The roots of Hapkido can be traced back to over 4,000 years ago in the region that forms modern day Korea.  Techniques very similar or even identical to modern day Hapkido motions have been found depicted in ancient statues and paintings of the region.  The techniques have evolved and been refined in the defense of the Korean peninsula during hundreds of attempted invasions over the course of its history. Techniques that were ineffective were left on the battlefield with the fallen soldiers.
 
Over the centuries, many of these Korean warriors migrated to the surrounding regions, including Japan.  The decedents of one such group in Japan helped enthrone Emperor Seiwa of Japan in 858 AD.  In recognition of their service, Emperor Seiwa gave them the family name Seiwa Minamoto.  A descendent of this family, Siraki Saburo Minamoto Yoshimitsu founded Daito Ryu Aikijujutsu around 1087 AD by combining his knowledge of his family’s martial arts with the knowledge he attained studying corpses on battlefields.  Minamoto Yoshimitsu’s was also known by his Korean name, Silla Sam Lang Won Eui Kwang.
 
This martial art was transmitted exclusively within the Takeda branch of the Minamoto family for centuries.
 
Takeda Sokaku, following the outlawing and reemergence of martial arts in Japan during the Meiji era, taught the style to people outside the family for the first time.  Choi Yong Sool, one of his early students, trained in Daito Ryu Aikijujutsu under Takeda Sokaku from 1912 - 1943 when he was drafted as a combat instructor.  In January of 1946, Choi Yong Sool returned to Korea and began teaching the martial art.  The martial art further evolved with the help of his students into modern day Hapkido by incorporating a number of traditional Korean martial arts into Daito Ryu Aikijujutsu.
 
Although Hapkido is a traditional martial art in the sense that its techniques have a long history, the Hapkido community constantly strives to continue to refine and improve the art.