Tennis originated as far back as the 12th century when palms were used. Racquets were used in the 16th century. The oldest running and also most prestigious tournament is The Championships, Wimbledon. Its in London, England and has been an annual event since 1877.
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In December 1873, Major Walter Clopton Wingfield designed and patented a similar game - which he called sphairistike
Source:
Tennis - Wikipedia
Answer: Sometime around 1872 and 1873, the exact date is not known.