We studied invariant measures and invariant densities for dynamical systems with random switching (switching systems, in short). These switching systems can be described by a two-component Markov process whose first component is a stochastic process on a finite-dimensional smooth manifold and whose second component is a stochastic process on a finite collection of smooth vector fields that are defined on the manifold. We identified sufficient conditions for uniqueness and absolute continuity of the invariant measure associated to this Markov process. These conditions consist of a Hoermander-type hypoellipticity condition and a recurrence condition. In the case where the manifold is the real line or a subset of the real line, we studied regularity properties of the invariant densities of absolutely continuous invariant measures. We showed that invariant densities are smooth away from critical points of the vector fields. Assuming in addition that the vector fields are analytic, we derived the asymptotically dominant term for invariant densities at critical points.