The ancient roots and influences on modern Taekwondo were more cultural and philosophical than precise techniques, and began as an aspect of military defense among the early inhabitants and the three kingdoms developing from 57 BC to the 1st Century AD throughout the peninsula (modern day Korea) and some of the mainland area known as Choseon. Early Korean warriors incorporated hand fighting similar to that taught in China, and Wrestling, and created their own unique native skills of kicking that eventually became the impetus which inspired the foot techniques as a primary weapon of Taekwondo.
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i prefer not to consider Tae Kwon-Do a sport, Rather a way of life.but the awnser to your question can be two things. tae kwon do was first invented on April 11th 1955, but the ITF (international tae kwon do federation) was founded march 22nd 1966