The earliest human habitation of what is now Neckarsteinach presumably took place in prehistoric times, for the water- and wood-rich area was ideal for hunting and fishing, and afforded a place sheltered from the cold north and east winds. In the 7th century, the area around Neckarsteinach belonged to the Lobdengau, and passed along with it to the high monastery at Worms, when its fiefholder Bligger von Steinach was first mentioned. Worms or Bligger and his sons and grandsons build the four Neckarsteinach castles, whose history is so tightly bound to the town's.