Pre-Cassini images of Saturn's small icy moon Enceladus provided the first indication that this satellite has undergone extensive resurfacing and tectonism. Data returned by the Cassini spacecraft have proven Enceladus to be one of the most geologically dynamic bodies in the Solar System. Given that the diameter of Enceladus is only about 500 km, this is a surprising discovery and has made Enceladus an object of much interest. Determining Enceladus' interior structure is key to understanding its current activity. Here we use the mean density of Enceladus (as determined by the Cassini mission to Saturn), Cassini observations of endogenic activity on Enceladus, and numerical simulations of Enceladus' thermal evolution to infer that this satellite is most likely a differentiated body with a large rock-metal core of radius about 150 to 170 km surrounded by a liquid water-ice shell. With a silicate mass fraction of 50% or more, long-term radiogenic heating alone might melt most of the ice in a homogeneous Enceladus after about 500 Myr assuming an initial accretion temperature of about 200 K, no subsolidus convection of the ice, and either a surface temperature higher than at present or a porous, insulating surface. Short-lived radioactivity, e.g., the decay of 26Al, would melt all of the ice and differentiate Enceladus within a few million years of accretion assuming formation of Enceladus at a propitious time prior to the decay of 26Al. Long-lived radioactivity facilitates tidal heating as a source of energy for differentiation by warming the ice in Enceladus so that tidal deformation can become effective. This could explain the difference between Enceladus and Mimas. Mimas, with only a small rock fraction, has experienced relatively little long-term radiogenic heating; it has remained cold and stiff and less susceptible to tidal heating despite its proximity to Saturn and larger eccentricity than Enceladus. It is shown that the shape of Enceladus is not that of a body in hydrostatic equilibrium at its present orbital location and rotation rate. The present shape could be an equilibrium shape corresponding to a time when Enceladus was closer to Saturn and spinning more rapidly, or more likely, to a time when Enceladus was spinning more rapidly at its present orbital location. A liquid water layer on Enceladus is a possible source for the plume in the south polar region assuming the survivability of such a layer to the present. These results could place Enceladus in a category similar to the large satellites of Jupiter, with the core having a rock-metal composition similar to Io, and with a deep overlying ice shell similar to Europa and Ganymede. Indeed, the moment of inertia factor of a differentiated Enceladus, C/MR, could be as small as that of Ganymede, about 0.31.