The town was first settled in 1681 and was established near the Bound Brook stream of the same name, which flows into the Raritan River via the Green Brook on the eastern side of the borough.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.