跆拳道起源于朝鲜半岛，距今已有两千多年的历史。朝鲜民族古时以农业及打猎为生，在抵御野兽、对抗入侵与祭祀活动的舞艺中， 逐渐演变成有意识的攻防技巧及格斗自卫武艺的雏型。在两千年前的高句丽皇室墓葬的壁画中，画有两名男子在用跆拳道的攻防姿势互相争斗。
Taekwondo originated in the Korean Peninsula and has a history of more than 2000 years. In ancient times, the Korean people lived in agriculture and hunting. In the dance art of resisting wild animals, resisting invasion and sacrificial activities, it gradually evolved into the rudiment of conscious attack and defense skills and fighting and self-defense skills. In the mural of the Royal Tomb of Koguryo two thousand years ago, two men were fighting with each other in the offensive and defensive posture of Taekwondo.