Europa is one of the most enticing targets in the search for life beyond Earth. With an icy outer shell hiding a global ocean, Europa exists in a dynamic environment and sources of energy that could sustain a biosphere. Beneath ice shelves on Earth, processes such as accretion, melt and circulation mediate the ice as an important element of the climate system. Here, ice-ocean exchange may be similar to that on Europa, but the harsh environment and thickness of the ice make it difficult to observe. This presentation will explore environments on Europa and their analogs here on Earth. NASA will launch the Europa Clipper Mission in 2021, but while we wait to get there, current research is being conducted on the McMurdo and Ross Ice Shelves using the under ice AUV/ROV Icefin. This new robotic capability is used to gather unique new data relevant to climate and planetary science, and develop techniques for exploring Europa, an ice covered world not so unlike our own.