The history of martial arts in ancient times, both in Korea and other parts of Asia and Europe at times can be very hard to authenticate, due to the fact that documentation was hard to verify and any documents available at those times were hard to preserve.

I have included several web site links that I feel have excellent text concerning the history of Martial Arts in Korea. These sites are generally broken down into ancient history and recent history. Recent history will deal with the formation of the original Kwan’s in Korea, and the founding of Taekwondo as we know it today. Some of the web sites I've included do have slightly different details concerning the facts. I truly do not know which is absolutely correct. 

A good overall history page
http://www.barrel.net/history.php

A good history page from the ITF website
http://www.itf-information.com/information15.htm

A good history page from the WTF website
http://www.kukkiwon.or.kr/english/information/information01.jsp?div=01

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