Could people live on Mars someday?

Mars glows red in the night sky, and humans have been staring at it for thousands of years, wondering. Could we actually live there someday? Not just visit for a quick flag-planting photo op, but build towns, grow food, raise families? The short answer is: maybe, but it's going to take some seriously clever engineering.
First problem: Mars has almost no air. Earth's atmosphere is thick and cozy, full of oxygen to breathe. Mars has a whisper-thin atmosphere made mostly of carbon dioxide — you can't breathe it, and it's so thin it barely holds any heat. Step outside without a spacesuit and you'd pass out in seconds.
