<?xml version="1.0" encoding="us-ascii"?><InstanceReport xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema"><Version>2.2.0.25</Version><hasSegments>false</hasSegments><hasScenarios>false</hasScenarios><ReportLongName>0210 - Disclosure - Commitments and Contingencies</ReportLongName><DisplayLabelColumn>true</DisplayLabelColumn><ShowElementNames>false</ShowElementNames><RoundingOption /><HasEmbeddedReports>false</HasEmbeddedReports><Columns><Column><Id>1</Id><IsAbstractGroupTitle>false</IsAbstractGroupTitle><LabelColumn>false</LabelColumn><CurrencyCode>USD</CurrencyCode><FootnoteIndexer /><hasSegments>false</hasSegments><hasScenarios>false</hasScenarios><MCU><KeyName>1/1/2011 - 3/31/2011
USD ($)

USD ($) / shares

</KeyName><CurrencySymbol>$</CurrencySymbol><contextRef><ContextID>Jan-01-2011_Mar-31-2011</ContextID><EntitySchema>http://www.sec.gov/CIK</EntitySchema><EntityValue>0000764622</EntityValue><PeriodDisplayName /><PeriodType>duration</PeriodType><PeriodStartDate>2011-01-01T00:00:00</PeriodStartDate><PeriodEndDate>2011-03-31T00:00:00</PeriodEndDate><Segments /><Scenarios /></contextRef><UPS><UnitProperty><UnitID>USD</UnitID><UnitType>Standard</UnitType><StandardMeasure><MeasureSchema>http://www.xbrl.org/2003/iso4217</MeasureSchema><MeasureValue>USD</MeasureValue><MeasureNamespace>iso4217</MeasureNamespace></StandardMeasure><Scale>0</Scale></UnitProperty><UnitProperty><UnitID>USDEPS</UnitID><UnitType>Divide</UnitType><NumeratorMeasure><MeasureSchema>http://www.xbrl.org/2003/iso4217</MeasureSchema><MeasureValue>USD</MeasureValue><MeasureNamespace>iso4217</MeasureNamespace></NumeratorMeasure><DenominatorMeasure><MeasureSchema>http://www.xbrl.org/2003/instance</MeasureSchema><MeasureValue>shares</MeasureValue><MeasureNamespace>xbrli</MeasureNamespace></DenominatorMeasure><Scale>0</Scale></UnitProperty><UnitProperty><UnitID>Shares</UnitID><UnitType>Standard</UnitType><StandardMeasure><MeasureSchema>http://www.xbrl.org/2003/instance</MeasureSchema><MeasureValue>shares</MeasureValue><MeasureNamespace>xbrli</MeasureNamespace></StandardMeasure><Scale>0</Scale></UnitProperty></UPS><CurrencyCode>USD</CurrencyCode><OriginalCurrencyCode>USD</OriginalCurrencyCode></MCU><CurrencySymbol>$</CurrencySymbol><Labels><Label Id="1" Label="3 Months Ended" /><Label Id="2" Label="Mar. 31, 2011" /></Labels></Column></Columns><Rows><Row><Id>2</Id><IsAbstractGroupTitle>true</IsAbstractGroupTitle><Level>0</Level><ElementName>pnw_CommitmentsAndContingenciesAbstract</ElementName><ElementPrefix>pnw</ElementPrefix><IsBaseElement>false</IsBaseElement><BalanceType>na</BalanceType><PeriodType>duration</PeriodType><ShortDefinition>Commitments and Contingencies.</ShortDefinition><IsReportTitle>false</IsReportTitle><IsSegmentTitle>false</IsSegmentTitle><IsSubReportEnd>false</IsSubReportEnd><IsCalendarTitle>false</IsCalendarTitle><IsTuple>false</IsTuple><IsEquityPrevioslyReportedAsRow>false</IsEquityPrevioslyReportedAsRow><IsEquityAdjustmentRow>false</IsEquityAdjustmentRow><IsBeginningBalance>false</IsBeginningBalance><IsEndingBalance>false</IsEndingBalance><IsReverseSign>false</IsReverseSign><PreferredLabelRole /><FootnoteIndexer /><Cells><Cell><Id>1</Id><IsNumeric>false</IsNumeric><IsRatio>false</IsRatio><DisplayZeroAsNone>false</DisplayZeroAsNone><NumericAmount>0</NumericAmount><RoundedNumericAmount>0</RoundedNumericAmount><NonNumbericText /><NonNumericTextHeader /><FootnoteIndexer /><CurrencyCode /><CurrencySymbol /><IsIndependantCurrency>false</IsIndependantCurrency><ShowCurrencySymbol>false</ShowCurrencySymbol><DisplayDateInUSFormat>false</DisplayDateInUSFormat><hasSegments>false</hasSegments><hasScenarios>false</hasScenarios></Cell></Cells><OriginalInstanceReportColumns /><Unit>Other</Unit><ElementDataType>xbrli:stringItemType</ElementDataType><SimpleDataType>string</SimpleDataType><ElementDefenition>Commitments and Contingencies.</ElementDefenition><IsTotalLabel>false</IsTotalLabel><IsEPS>false</IsEPS><Label>Commitments and Contingencies [Abstract]</Label></Row><Row><Id>3</Id><IsAbstractGroupTitle>false</IsAbstractGroupTitle><Level>0</Level><ElementName>us-gaap_CommitmentsAndContingenciesDisclosureTextBlock</ElementName><ElementPrefix>us-gaap</ElementPrefix><IsBaseElement>true</IsBaseElement><BalanceType>na</BalanceType><PeriodType>duration</PeriodType><ShortDefinition>No definition available.</ShortDefinition><IsReportTitle>false</IsReportTitle><IsSegmentTitle>false</IsSegmentTitle><IsSubReportEnd>false</IsSubReportEnd><IsCalendarTitle>false</IsCalendarTitle><IsTuple>false</IsTuple><IsEquityPrevioslyReportedAsRow>false</IsEquityPrevioslyReportedAsRow><IsEquityAdjustmentRow>false</IsEquityAdjustmentRow><IsBeginningBalance>false</IsBeginningBalance><IsEndingBalance>false</IsEndingBalance><IsReverseSign>false</IsReverseSign><PreferredLabelRole>verboselabel</PreferredLabelRole><FootnoteIndexer /><Cells><Cell><Id>1</Id><IsNumeric>false</IsNumeric><IsRatio>false</IsRatio><DisplayZeroAsNone>false</DisplayZeroAsNone><NumericAmount>0</NumericAmount><RoundedNumericAmount>0</RoundedNumericAmount><NonNumbericText>&lt;!--DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd" --&gt;
   &lt;!-- Begin Block Tagged Note 10 - us-gaap:CommitmentsAndContingenciesDisclosureTextBlock--&gt;
   &lt;div style="font-family: 'Times New Roman',Times,serif; margin-left: 0in; "&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt"&gt;&lt;b&gt;10. Commitments and Contingencies&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt"&gt;&lt;b&gt;Palo Verde Nuclear Generating Station&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;&lt;b&gt;Spent Nuclear Fuel and Waste Disposal&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;APS currently estimates it will incur $122&amp;#160;million (in 2011 dollars) over the
   current life of Palo Verde for its share of the costs related to the on-site interim storage of
   spent nuclear fuel. At March&amp;#160;31, 2011, APS had a regulatory liability of $46&amp;#160;million that
   represents amounts recovered in retail rates in excess of amounts spent for on-site interim spent
   fuel storage.
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;&lt;b&gt;Nuclear Insurance&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;The Palo Verde participants are insured against public liability for a nuclear incident up to
   $12.6&amp;#160;billion per occurrence. As required by the Price Anderson Nuclear Industries Indemnity Act,
   Palo Verde maintains the maximum available nuclear liability insurance in the amount of $375
   million, which is provided by commercial insurance carriers. The remaining balance of $12.2
   billion is provided through a mandatory industry wide retrospective assessment program. If losses
   at any nuclear power plant covered by the program exceed the accumulated funds, APS could be
   assessed retrospective premium adjustments. The maximum assessment per reactor under the program
   for each nuclear incident is approximately $118&amp;#160;million, subject to an annual limit of $18&amp;#160;million
   per incident, to be periodically adjusted for inflation. Based on APS&amp;#8217;s interest in the three Palo
   Verde units, APS&amp;#8217;s maximum potential assessment per incident for all three units is approximately
   $103&amp;#160;million, with an annual payment limitation of approximately $15&amp;#160;million.
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;The Palo Verde participants maintain &amp;#8220;all risk&amp;#8221; (including nuclear hazards) insurance for
   property damage to, and decontamination of, property at Palo Verde in the aggregate amount of $2.75
   billion, a substantial portion of which must first be applied to stabilization and decontamination.
   APS has also secured insurance against portions of any increased cost of generation or purchased
   power and business interruption resulting from a sudden and unforeseen accidental outage of any of
   the three units. The property damage, decontamination, and replacement power coverages are
   provided by Nuclear Electric Insurance Limited (&amp;#8220;NEIL&amp;#8221;). APS is subject to retrospective
   assessments under all NEIL policies if NEIL&amp;#8217;s losses in any policy year exceed accumulated funds.
   The maximum amount APS could incur under the current NEIL policies totals approximately $18&amp;#160;million
   for each retrospective assessment declared by NEIL&amp;#8217;s Board of Directors due to losses. In
   addition, NEIL policies contain rating triggers that would result in APS providing approximately
   $46&amp;#160;million of collateral assurance within 20 business days of a rating downgrade to non-investment
   grade. The insurance coverage discussed in this and the previous paragraph is subject to certain
   policy conditions and exclusions.
   &lt;/div&gt;
   &lt;!-- Folio --&gt;
   &lt;!-- /Folio --&gt;
   &lt;/div&gt;
   &lt;!-- PAGEBREAK --&gt;
   &lt;div style="font-family: 'Times New Roman',Times,serif; margin-left: 0in; "&gt;
   &lt;div align="center" style="font-size: 10pt; margin-top: 0pt"&gt;
   &lt;b&gt;
   &lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt"&gt;&lt;b&gt;Contractual Obligations&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;Our future contractual purchase obligations have increased from approximately $456&amp;#160;million at December&amp;#160;31, 2010 as disclosed in the
   2010 Form 10-K to $699&amp;#160;million at March 31, 2011. This increase is primarily related to an amended
   agreement for certain transmission rights-of-way and a new contract for the construction of a solar
   facility. Total contractual purchase obligations are as follows (dollars in millions):
   &lt;/div&gt;
   &lt;div align="center"&gt;
   &lt;table style="font-size: 10pt; text-align: left" cellspacing="0" border="0" cellpadding="0" width="100%"&gt;
   &lt;!-- Begin Table Head --&gt;
   &lt;tr valign="bottom"&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="3%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="3%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="3%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="3%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="3%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="3%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="6%"&gt;&amp;#160;&lt;/td&gt;
       &lt;td width="1%"&gt;&amp;#160;&lt;/td&gt;
   &lt;/tr&gt;
   &lt;tr style="font-size: 10pt" valign="bottom"&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;2011&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;2012&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;2013&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;2014&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;2015&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;Thereafter&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td nowrap="nowrap" align="center" colspan="2" style="border-bottom: 1px solid #000000"&gt;Total&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
   &lt;/tr&gt;
   &lt;!-- End Table Head --&gt;
   &lt;!-- Begin Table Body --&gt;
   &lt;tr valign="bottom" style="background: #cceeff"&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;232&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;116&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;69&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;6&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;6&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;270&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
       &lt;td align="left"&gt;$&lt;/td&gt;
       &lt;td align="right"&gt;699&lt;/td&gt;
       &lt;td&gt;&amp;#160;&lt;/td&gt;
   &lt;/tr&gt;
   &lt;!-- End Table Body --&gt;
   &lt;/table&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;Payments for the transmission rights-of-way are subject to change based on changes in
   the Consumer Price Index.
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt"&gt;&lt;b&gt;FERC Market Issues&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;On July&amp;#160;25, 2001, the FERC ordered an evidentiary proceeding to discuss and evaluate possible
   refunds for wholesale sales in the Pacific Northwest. The FERC affirmed the administrative law
   judge&amp;#8217;s conclusion that the prices in the Pacific Northwest were not unreasonable or unjust and
   refunds should not be ordered in this proceeding. This decision was appealed to the U.S. Court of
   Appeals for the Ninth Circuit. On August&amp;#160;24, 2007, the Ninth Circuit issued an opinion that
   remanded the proceeding to the FERC for further consideration. Although the FERC has not yet
   determined whether any refunds will ultimately be required, we do not expect that the resolution of
   these issues will have a material adverse impact on our financial position, results of operations
   or cash flows.
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt"&gt;&lt;b&gt;Superfund&lt;/b&gt;
   &lt;/div&gt;
   &lt;div align="left" style="font-size: 10pt; margin-top: 10pt; text-indent: 4%"&gt;The Comprehensive Environmental Response, Compensation and Liability Act (&amp;#8220;Superfund&amp;#8221;)
   establishes liability for the cleanup of hazardous substances found contaminating the soil, water
   or air. Those who generated, transported or disposed of hazardous substances at a contaminated
   site are among those who are potentially responsible parties (&amp;#8220;PRPs&amp;#8221;). PRPs may be strictly, and
   often are jointly and severally, liable for clean-up. On September&amp;#160;3, 2003, the United States
   Environmental Protection Agency (&amp;#8220;EPA&amp;#8221;) advised APS that the EPA considers APS to be a PRP in the
   Motorola 52&lt;sup style="font-size: 85%; vertical-align: text-top"&gt;nd&lt;/sup&gt; Street Superfund Site, Operable Unit 3 (OU3) in Phoenix, Arizona. APS has
   facilities that are within this Superfund site. APS and Pinnacle West have agreed with the EPA to
   perform certain investigative activities of the APS facilities within OU3. In addition, on
   September&amp;#160;23, 2009, APS agreed with the EPA and one other PRP to voluntarily assist with the
   funding and management of the site-wide groundwater remedial investigation and feasibility study
   work plan. We estimate that our costs related to this investigation and study will be
   approximately $1&amp;#160;million, which is reserved as a liability on our financial statements. We
   anticipate incurring additional expenditures in the future, but because the overall investigation
   is not complete and ultimate remediation requirements are not yet finalized, at the present time we
   cannot accurately estimate our total expenditures.
   &lt;/div&gt;
   &lt;!-- Folio --&gt;
   &lt;!-- /Folio --&gt;
   &lt;/div&gt;
   &lt;!-- PAGEBREAK --&gt;
   &lt;div style="font-family: 'Times New Roman',Times,serif; margin-left: 0in; "&gt;
   &lt;div align="center" style="font-size: 10pt; margin-top: 0pt"&gt;
   &lt;b&gt;
   &lt;/b&gt;
   &lt;/div&gt;
   &lt;/div&gt;
</NonNumbericText><NonNumericTextHeader>&lt;!--DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd" --&gt;
   &lt;!-- Begin Block Tagged Note</NonNumericTextHeader><FootnoteIndexer /><CurrencyCode /><CurrencySymbol /><IsIndependantCurrency>false</IsIndependantCurrency><ShowCurrencySymbol>false</ShowCurrencySymbol><DisplayDateInUSFormat>false</DisplayDateInUSFormat><hasSegments>false</hasSegments><hasScenarios>false</hasScenarios></Cell></Cells><OriginalInstanceReportColumns /><Unit>Other</Unit><ElementDataType>us-types:textBlockItemType</ElementDataType><SimpleDataType>string</SimpleDataType><ElementDefenition>Includes disclosure of commitments and contingencies. This element may be used as a single block of text to encapsulate the entire disclosure including data and tables.</ElementDefenition><ElementReferences>Reference 1: http://www.xbrl.org/2003/role/presentationRef
 -Publisher FASB
 -Name FASB Interpretation (FIN)
 -Number 14
 -Paragraph 3

Reference 2: http://www.xbrl.org/2003/role/presentationRef
 -Publisher FASB
 -Name Statement of Financial Accounting Standard (FAS)
 -Number 5
 -Paragraph 9, 10, 11, 12

</ElementReferences><IsTotalLabel>false</IsTotalLabel><IsEPS>false</IsEPS><Label>Commitments and Contingencies</Label></Row></Rows><Footnotes /><NumberOfCols>1</NumberOfCols><NumberOfRows>2</NumberOfRows><ReportName>Commitments and Contingencies</ReportName><MonetaryRoundingLevel>UnKnown</MonetaryRoundingLevel><SharesRoundingLevel>UnKnown</SharesRoundingLevel><PerShareRoundingLevel>UnKnown</PerShareRoundingLevel><ExchangeRateRoundingLevel>UnKnown</ExchangeRateRoundingLevel><HasCustomUnits>false</HasCustomUnits><SharesShouldBeRounded>true</SharesShouldBeRounded></InstanceReport>
