Cyber-Physical Systems (CPS) usually consist of a set of embedded systems (CPS nodes) connected through wireless communication, providing multiple functionalities that support different types of applications. During CPS deployment, application tasks are mapped on the CPS nodes with the objective of enhancing real-time performance, energy efficiency, and execution reliability. To satisfy these requirements, effective task mapping approaches should be designed based on different types of tasks, platforms, applications, and system requirements. In this paper, we provide a comprehensive survey regarding the task mapping methods in CPS.