A wooden bridge over the Raritan River was erected as early as 1761 and named Queen's Bridge in 1767. Later, it became a covered bridge. During the American Revolutionary War, the bridge was used repeatedly by both sides including during the Battle of Bound Brook in 1777. In 1875, the wooden bridge was replaced by a steel pipe truss bridge. More than 100 years later, that bridge was itself replaced by a steel girder bridge in 1984, still using the old pillars. The bridge was renovated and repaved in 2007.