In 1211, Heusenstamm had its first documentary mention in an Eppstein fief book in which Gottfried of Eppstein documented that he held the castle and village of "Huselstam" in fief from the Empire and that he had further bestowed these holdings upon Eberhard Waro von Hagen-Heusenstamm. The place was later called "Husinstam" and, beginning in the 15th century, "Heussenstain". About the middle of the 12th century, Eberhard Waro von Hagen-Heusenstamm had a moated castle built here. From the Middle Ages until 1819, Heusenstamm and Rembrücken belonged to the Biebermark, an area held in common with several other villages.