Impressive progress has been made in the course the last decades in understanding astrophysical objects. Increasing precision of nuclear physics data has contributed significantly to this success, but now a better understanding of several important findings is frequently limited by uncertainties related to the available nuclear physics data. Consequently it is desirable to improve significantly the quality of these data. An important step towards higher precision is an excellent signal to background ratio of the data. Placing an accelerator facility inside an underground laboratory reducing the cosmic ray induced background by six orders of magnitude is a powerful method to reach this goal, even though careful reduction of environmental and beam induced background must still be considered. Experience in the field of underground nuclear astrophysics has been gained since 20 years due to the pioneering work of the LUNA Collaboration (Laboratory for Underground Nuclear Astrophysics) operating inside the underground laboratories of the Laboratori Nazionali del Gran Sasso (LNGS) in Italy. Based on the success of this work presently also several other projects for underground laboratories dedicated to nuclear astrophysics are being pursued worldwide. This contribution will give a survey of the past experience in underground nuclear astrophysics as well as an outlook on future developments.