The Edo shogunate introduced the Genna Military Service Order in 1616 to make military service compulsory to the daimyos and the hatamotos, in order to maintain this system, the hatamotos were required to be stationed permanently in Edo (Jofu), except under special assignments, and in 1635, the daimyos were governed under the Sankinkotai system (amendment of the Buke shohatto, or the code of warrior households), in which the lords were required to reside in Edo in alternate years, instead of stationing permanently in Edo.
江戸幕府においては元和_(日本)2年（1616年）の元和軍役令を制定して、大名・旗本に軍役・奉仕の義務付けを行ったが、この体制の維持のために旗本は職務による例外を除いては江戸常駐（定府）を命じ、大名には寛永12年（1635年）には、江戸常駐の代替として参勤交代制の導入（武家諸法度改正）を行った。