Let's say we have a query of the remaining horsemen that needs to populate a Person class.

Name	Born	Residence
Daniel Dennett	1942	United States of America
Sam Harris	1967	United States of America
Richard Dawkins	1941	United Kingdom

public class Person
{
    public string Name { get; set; }
    public int Born { get; set; }
    public Country Residience { get; set; }
}

public class Country
{
    public string Residence { get; set; }
}

We can populate the person class as well as the Residence property with an instance of Country using an overload Query<> that takes a Func<> that can be used to compose the returned instance. The Func<> can take up to 7 input types with the final generic argument always being the return type.

var sql = @"SELECT 'Daniel Dennett' AS Name, 1942 AS Born, 'United States of America' AS Residence
UNION ALL SELECT 'Sam Harris' AS Name, 1967 AS Born, 'United States of America' AS Residence
UNION ALL SELECT 'Richard Dawkins' AS Name, 1941 AS Born, 'United Kingdom' AS Residence";

var result = connection.Query<Person, Country, Person>(sql, (person, country) => {
        if(country == null)
        {
            country = new Country { Residence = "" };
        }
        person.Residience = country;
        return person;
    }, 
    splitOn: "Residence");

Note the use of the splitOn: "Residence" argument which is the 1st column of the next class type to be populated (in this case Country). Dapper will automatically look for a column called Id to split on but if it does not find one and splitOn is not provided a System.ArgumentException will be thrown with a helpful message. So although it is optional you will usually have to supply a splitOn value.

Let's look at a more complex example that contains a one-to-many relationship. Our query will now contain multiple rows containing duplicate data and we will need to handle this. We do this with a lookup in a closure.

The query changes slightly as do the example classes.

Id	Name	Born	CountryId	CountryName	BookId	BookName
1	Daniel Dennett	1942	1	United States of America	1	Brainstorms
1	Daniel Dennett	1942	1	United States of America	2	Elbow Room
2	Sam Harris	1967	1	United States of America	3	The Moral Landscape
2	Sam Harris	1967	1	United States of America	4	Waking Up: A Guide to Spirituality Without Religion
3	Richard Dawkins	1941	2	United Kingdom	5	The Magic of Reality: How We Know What`s Really True
3	Richard Dawkins	1941	2	United Kingdom	6	An Appetite for Wonder: The Making of a Scientist

public class Person
{
    public int Id { get; set; }
    public string Name { get; set; }
    public int Born { get; set; }
    public Country Residience { get; set; }
    public ICollection<Book> Books { get; set; }
}

public class Country
{
    public int CountryId { get; set; }
    public string CountryName { get; set; }
}

public class Book
{
    public int BookId { get; set; }
    public string BookName { get; set; }
}

The dictionaryremainingHorsemen will be populated with fully materialized instances of the person objects. For each row of the query result the mapped values of instances of the types defined in the lambda arguments are passed in and it is up to you how to handle this.

            var sql = @"SELECT 1 AS Id, 'Daniel Dennett' AS Name, 1942 AS Born, 1 AS CountryId, 'United States of America' AS CountryName, 1 AS BookId, 'Brainstorms' AS BookName
UNION ALL SELECT 1 AS Id, 'Daniel Dennett' AS Name, 1942 AS Born, 1 AS CountryId, 'United States of America' AS CountryName, 2 AS BookId, 'Elbow Room' AS BookName
UNION ALL SELECT 2 AS Id, 'Sam Harris' AS Name, 1967 AS Born, 1 AS CountryId,  'United States of America' AS CountryName, 3 AS BookId, 'The Moral Landscape' AS BookName
UNION ALL SELECT 2 AS Id, 'Sam Harris' AS Name, 1967 AS Born, 1 AS CountryId,  'United States of America' AS CountryName, 4 AS BookId, 'Waking Up: A Guide to Spirituality Without Religion' AS BookName
UNION ALL SELECT 3 AS Id, 'Richard Dawkins' AS Name, 1941 AS Born, 2 AS CountryId,  'United Kingdom' AS CountryName, 5 AS BookId, 'The Magic of Reality: How We Know What`s Really True' AS BookName
UNION ALL SELECT 3 AS Id, 'Richard Dawkins' AS Name, 1941 AS Born, 2 AS CountryId,  'United Kingdom' AS CountryName, 6 AS BookId, 'An Appetite for Wonder: The Making of a Scientist' AS BookName";

var remainingHorsemen = new Dictionary<int, Person>();
connection.Query<Person, Country, Book, Person>(sql, (person, country, book) => {
    //person
    Person personEntity;
    //trip
    if (!remainingHorsemen.TryGetValue(person.Id, out personEntity))
    {
        remainingHorsemen.Add(person.Id, personEntity = person);
    }

    //country
    if(personEntity.Residience == null)
    {
        if (country == null)
        {
            country = new Country { CountryName = "" };
        }
        personEntity.Residience = country;
    }                    

    //books
    if(personEntity.Books == null)
    {
        personEntity.Books = new List<Book>();
    }

    if (book != null)
    {
        if (!personEntity.Books.Any(x => x.BookId == book.BookId))
        {
            personEntity.Books.Add(book);
        }
    }

    return personEntity;
}, 
splitOn: "CountryId,BookId");

Note how the splitOn argument is a comma delimited list of the first columns of the next type.

Sometimes the number of types you are mapping exceeds the 7 provided by the Func<> that does the construction.

Instead of using the Query<> with the generic type argument inputs, we will provide the types to map to as an array, followed by the mapping function. Other than the initial manual setting and casting of the values, the rest of the function does not change.

            var sql = @"SELECT 1 AS Id, 'Daniel Dennett' AS Name, 1942 AS Born, 1 AS CountryId, 'United States of America' AS CountryName, 1 AS BookId, 'Brainstorms' AS BookName
UNION ALL SELECT 1 AS Id, 'Daniel Dennett' AS Name, 1942 AS Born, 1 AS CountryId, 'United States of America' AS CountryName, 2 AS BookId, 'Elbow Room' AS BookName
UNION ALL SELECT 2 AS Id, 'Sam Harris' AS Name, 1967 AS Born, 1 AS CountryId,  'United States of America' AS CountryName, 3 AS BookId, 'The Moral Landscape' AS BookName
UNION ALL SELECT 2 AS Id, 'Sam Harris' AS Name, 1967 AS Born, 1 AS CountryId,  'United States of America' AS CountryName, 4 AS BookId, 'Waking Up: A Guide to Spirituality Without Religion' AS BookName
UNION ALL SELECT 3 AS Id, 'Richard Dawkins' AS Name, 1941 AS Born, 2 AS CountryId,  'United Kingdom' AS CountryName, 5 AS BookId, 'The Magic of Reality: How We Know What`s Really True' AS BookName
UNION ALL SELECT 3 AS Id, 'Richard Dawkins' AS Name, 1941 AS Born, 2 AS CountryId,  'United Kingdom' AS CountryName, 6 AS BookId, 'An Appetite for Wonder: The Making of a Scientist' AS BookName";

var remainingHorsemen = new Dictionary<int, Person>();
connection.Query<Person>(sql,
    new[]
    {
        typeof(Person),
        typeof(Country),
        typeof(Book)
    }
    , obj => {

        Person person = obj[0] as Person;
        Country country = obj[1] as Country;
        Book book = obj[2] as Book;

        //person
        Person personEntity;
        //trip
        if (!remainingHorsemen.TryGetValue(person.Id, out personEntity))
        {
            remainingHorsemen.Add(person.Id, personEntity = person);
        }

        //country
        if(personEntity.Residience == null)
        {
            if (country == null)
            {
                country = new Country { CountryName = "" };
            }
            personEntity.Residience = country;
        }                    

        //books
        if(personEntity.Books == null)
        {
            personEntity.Books = new List<Book>();
        }

        if (book != null)
        {
            if (!personEntity.Books.Any(x => x.BookId == book.BookId))
            {
                personEntity.Books.Add(book);
            }
        }

        return personEntity;
},
splitOn: "CountryId,BookId");

If the query column names do not match your classes you can setup mappings for types. This example demonstrates mapping using System.Data.Linq.Mapping.ColumnAttributeas well as a custom mapping.

The mappings only need to be setup once per type so set them on application startup or somewhere else that they are only initialized once.

Assuming the same query as the One-to-many example again and the classes refactored toward better names like so:

public class Person
{
    public int Id { get; set; }
    public string Name { get; set; }
    public int Born { get; set; }
    public Country Residience { get; set; }
    public ICollection<Book> Books { get; set; }
}

public class Country
{
    [System.Data.Linq.Mapping.Column(Name = "CountryId")]
    public int Id { get; set; }

    [System.Data.Linq.Mapping.Column(Name = "CountryName")]
    public string Name { get; set; }
}

public class Book
{
    public int Id { get; set; }

    public string Name { get; set; }
}

Note how Book doesn't rely on ColumnAttribute but we would need to maintain the if statement

Now place this mapping code somewhere in your application where it is only executed once:

Dapper.SqlMapper.SetTypeMap(
    typeof(Country),
    new CustomPropertyTypeMap(
        typeof(Country),
        (type, columnName) =>
            type.GetProperties().FirstOrDefault(prop =>
                prop.GetCustomAttributes(false)
                    .OfType<System.Data.Linq.Mapping.ColumnAttribute>()
                    .Any(attr => attr.Name == columnName)))
);


var bookMap = new CustomPropertyTypeMap(
    typeof(Book),
    (type, columnName) =>
    {
        if(columnName == "BookId")
        {
            return type.GetProperty("Id");
        }

        if (columnName == "BookName")
        {
            return type.GetProperty("Name");
        }

        throw new InvalidOperationException($"No matching mapping for {columnName}");
    }        
);
Dapper.SqlMapper.SetTypeMap(typeof(Book), bookMap);

Then the query is executed using any of the previous Query<> examples.

A simpler way of adding the mappings is shown in this answer.