Aikido in its present form is comparatively modern and can be traced back to its origin starting from Prince Teijun, the sixth son of Emperor Seiwa (850-880), and was passed on to subsequent generations of the Minamoto clan. The esoteric art of Aikijutsu is attributed to Shinra Sabura Yoshimitsu of the Minamoto clan and was kept an exclusive secret for a hundred years and became known as Daito Ryu Aikijutsu.

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Morihei Ueshiba(1882-1969), the founder of Aikido, met Sokaku Takeda, the well-known master of Daito Ryu Aikijutsu, in 1915 in Hokkaido and was impressed by Takeda's techniques. He subsequently trained intensely under Takeda and gained a certificate in Daito Ryu Aikijutsu. Morihei Ueshiba also studied Yagyu Shinkage Ryu, Kito Ryu Jujitsu, and other empty hand and weapon arts.

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Morihei Ueshiba's practice of martial arts gradually began to take more on a spiritual character through the study of Kotodama (word spirit). He developed his own approach using applied principles and techniques, to break down the barrier between mind, spirit and body. In 1922 it was formally known as "Aiki-bujutsu".

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In April 1931, Morihei Ueshiba opened a scale of eighty mat Aiki-budo dojo inaugurated as Kobukan or "hell" Dojo. At this time, Gozo Shioda was one of the students in Kobukan Dojo. Around this time, the police adopted Aiki-budo as an official curriculum subject. Morihei Ueshiba later felt that Kobukan Aiki-budo was not only a branch or style of some broader art. He proclaimed the new name Aikido to identify his art as unique and a distinctive form of Budo. Then he entered the associations under a new name. Aikido was officially recognized as the name of Morihei Ueshiba school in February 1942.

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Morihei Ueshiba passed away peacefully on 26th April 1969 at the age of 86, leaving his students his dream of the world as one peaceful family through the practice of Aikido.