The exact orgin of Tang Soo Do, as well as of any of the martial arts on general is obscure though there are a number of historical theories. However, the most credible and traditional view is that martial arts originated not in any one country, but in almost all parts of the globe, as they were needed by primitive people.
The ancestral art of Korean Tang Soo Do can be traced back approximately 2,000 years. At that time Korea was divided into three kingdoms. Kugoryo, Silla Dynasty and the Paekche. Among the three kingdoms, the Silla Dynasty was most famous for its development of martial arts. A corps formed by young aristocrats who were called the "Hwa Rang Dan" was the major group who developed those arts, These warriors were instrumental in unifying the peninsula as the new Silla Dynasty (668 AD - 935 AD ) and furnished many of the early leaders of that dynasty. Most Korean martial arts trace their spiritual and technical heritage to this group. The names of some groups and arts reflect this, such as Hwa Rang Do or Hwa Soo Do. our Five Codes of Tang Soo Do, originated by Won Kwang, a monk, are part of their spiritual heritage.
The unified Silla Kingdom was overhtrown by a warlord, Wang Kun, in 918 AD and a new Kingdom, called "Koryo," lasted for 475 years. In 1392 AD the New Kingdom, Yi Dynasty, succeeded and lasted about 500 years. Approximately a thousand year period elapsed between the two dynasties. Tang Soo Do became very popular among the military society. However, most importantly, this art also became very popular with the general public. In those days, it was called Kwon Bop, Tae Kyun, Soo Bahk, Tang Soo, among others. The very first complete martial arts book was written at this time. This important book is called "Mooyae Dobo Tangji." It was written in 1790 AD and contained illustrations that substantiate the theory that "Soo Bahk Ki" the formal name of Tang Soo Do, had quickly developed into a sophosticated art of combat techniques.
The subsequent occupation of Korea by the Japanese military regime took place from 1909 to 1945. During this period, practicing and teaching of martial arts was restricted.
After World War II, these restrictions were lifted. Several martial arts training schools were established at the time, as follows:

Moo Duk Kwan by Hwang Kee
Chi Do Kwan by Kwai Byung, Yun
Chung Do Kwan by Duk Sung, Son
Song Moo Kwan by Byung Jik, No
Chang Moo Kwan by Nam Suk, Lee
Yun Moo Kwan by Sang Sup, Chin

The founders of these Kwans began to organize their own organizations. Master Hwang Kee organized the "Korean Soo Bahk Do Association" on November 9. 1945.In addition the Soo Bahk Do Association, there were various types of other martial arts called "Kong Soo" or "Tae Soo" existing in Korea. In 1965, All of these various systems were united into one organization called the Korean Tae Kwan Do Association. The various arts were adopted into a system called " Tae Kwan Do."
As a Korean national sport, Tae Kwan Do initiated a new era; instuctors were dispatched throughout the world and international tournaments were held. In those days, Tang Soo Do and Tae Kwan Do were divided principally, with Tang Soo Do striving to remain as a traditional martial art while Tae Kwan Do held its world games and sport.