The picturesque Rawa Castle was built by King Casimir III the Great in order to oversee and protect the southern parts of Mazovia, according to the ancient Chronicle of Jan Długosz. Another chronicler, Jan of Czarnków claimed however that the Castle was founded by Siemowit III, Duke of Masovia. It is not known when the construction began: probably it was in 1355. The castle was not completed until 1370, and by then, it served as the administrative center of the Duchy of Rawa, which was independent in 1455-62. On December 7, 1462, King Casimir IV visited the castle, announcing the incorporation of the Duchy of Rawa, and creation of Rawa Voivodeship.