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The Holland Dutch, first of the Europeans to settle in the Millstone Valley arrived some time prior to 1700. Along the course early settlers found numerous huge stones where Indian villages once had been. These stones contained scooped-out depressions where the natives crushed and milled their corn, possibly giving the area its name.

In 1738 this locality came into prominence when it was selected as the count seat and given the singular name of Somerset Court House. This designation remained until the sturdy courthouse and jail were destroyed by British raiders.

In 1834 the Delaware & Raritan Canal came through this small community of only .60 square miles making Millstone a crossroads for trade and commerce.