Agile coaching has emerged as a key enabler of agile adoption and organisational transformation. Despite its growing prevalence, there has not been much research into agile coaching, and there is a need for a better understanding of the current state of research and where the gaps lie. To fill this gap, we present a systematic mapping study (SMS) of agile coaching to identify and categorise existing research. An initial search identified 497 studies, of which 22 primary studies were selected based on inclusion and exclusion criteria. We provide a thematic analysis of the included papers and a summary of challenges and benefits associated with agile coaching. Key findings indicate a steady rate of research studies since 2013, predominantly from Europe. The most extensively researched areas are coaches’ skills, roles, and responsibilities. However, there is a noticeable lack of research depth in other areas and an absence of theory in all papers. Finally, we propose a roadmap for further research, highlighting unexplored aspects of agile coaching, including its impact across diverse organisational contexts. These findings provide a foundation for future research and offer practical insights for practitioners and researchers in the agile domain.