What is the difference between the verbs "ser" and "estar" and when should they be used?

"Ser" and "estar" are the 2 forms of the verb "to be" in Spanish. The first indicates identity and is more permanent, used in sentences like "I am Naomi" (Yo soy Naomi) or "I am a teacher" (Yo soy profesora) - both of these are permanent attributes. On the other hand, "estar" indicates a transient state the subject is in, such as in the sentence "I am tired" (Estoy cansada) or "I am with them" (Estoy con ellos) - both situations that aren't permanent. Therefore "estar" is also the verb that will be used in the present continuous: Yo estoy cantando (I am singing).