Korean in origin and originating in the 1st century BC as Taekkyon, it was mainly a military skill. Once the kingdom wars ended in 670 AD, an elite group of noblemen, the Hwa Rang Do, dedicated themselves to spreading peace and their honour code which became the philosophy behind tae kwon do.

The sport, which often incorporates weapons like the cane, the staff and the two-section stick, took its modern name in 1957.