As the provision mentioning Sankin-kotai in the 1635 edition of Buke Shohatto (code for the warrior households) said, "大名小名在江戸交替所相定也毎歳夏四月中可致参勤従者之員数…"(we announce the establishment of daimyo's sankin-kotai. Daimyo are required to arrive at Edo in every April. Too many retainers are employed recently...), "参勤" and "交替"were used.
寛永12年（1635年）の「武家諸法度」の参勤交代を規定する条文には「大名小名在江戸交替所相定也毎歳夏四月中可致参勤従者之員数……」と書かれており、「参勤」と「交替」が用いられている。