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It was a fighting art developed in the 16th century by African slaves and indigenous Brazilians. It has heavy focus on kicks and head strikes as most of the slaves would of been transported in chains. It was later like many Martial Arts disguised as a dance in order for practitioners to continue practicing when certain traditions were outlawed.
Capoeira was developed over a long period of time by slaves in Brazil rather than being invented by a single person. The earliest mention of Capoeira was in 1712 in the dictionary Vocabulario Portugues e Latino by Rafael Bluteau, and then later 1813 in the Dictionario da Lingua Portuguesa. The practice of Capoeira was illegal in Brazil until the 1930s despite the official end of slavery in 1888.
Mestre Bimba is credited with bringing Capoeira into the mainstream in the early 20th century and helping end the government's ban against the martial art. It was at that time that schools began to openly teach the art. Unfortunately, much of Capoeira's history before the 20th century was passed down through either word of mouth or by documents written by local authorities.
If you want to learn more about Capoeira's history, you should considering checking out the following books by Nestor Capoeira. He has done a good job in writing some nice primers about the art without sounding like a dry academic research paper.
There is no official start date for the art. It is believed to have started in the 16th century.