Retrieving the list of Service Principals in your Azure subscription(s)

Recently I found that I needed to grant certain users permissions in my applications, specifically I needed to put Service Principals into groups in order to grant them permissions in my application so that they can access protected data.

I found out that in Azure PowerShell, there's the module 'MSOnline', which contains the following pertinent commands:

Connect-MsolService:

Connects your current session to your MSOnline account

Get-MsolServicePrincipal:

Retrieves a listing of all of the Service Principals in your subscription(s)