Around the time of Christ's birth around the Neckar valley was populated by the Celts. With the Roman invasion, the area was incorporated into the Roman Empire. From the reign of the Roman remains of a Mithraic temple testify on the grounds of the industrial area Ottmarsheimer Höhe. This temple belonged to an extensive Roman settlement, which has been studied since the 1990s there at securing excavations of Antiquities and Monuments Office of the state Baden-Württemberg. A Roman villa has been discovered during the construction of the federal motorway 81. In 500 AD, began the rule of the Alemanni was an Alemannic nobleman named Mundolf, who gave the place its present name: "Mundolfsheim" what was in the language changed over the centuries to "Mundelsheim". In 1245 the place "Mundelsheim" was first mentioned in records. After the disintegration of the Duchy of Swabia the community came into the possession of the Margrave of Baden. This gave him the 13th Century the Lords of Urbach fief. In 1422 Emperor Sigismund Mundelsheim awarded municipal law. The Lords of Urbach participated in many robberies on traveling merchants. Therefore, the imperial cities of Heilbronn and Schwäbisch Hall moved in 1440 before with an army of 600 men on horseback against Mundelsheim and destroyed the community. 1595 Mundelsheim was sold to the house of Württemberg. Until 1806 was Mundelsheim seat of an urban district that came up first in the rural district office Beilstein and then in the rural district office Marbach. When this was dissolved in 1938 in the course of municipal reform, the community fell to the rural district of Ludwigsburg, where he belongs since then.
The historical guided tour with 24 objects in the center and other attractions in the outdoor area provides an insight into the history of the place. The tour begins on the market square in front of the community centre. There is an information board on which all the objects are listed. On the buildings and monuments are signs with brief explanations.
The history society Geschichtsverein Mundelsheim has set up in the former tithe barn of the monastery Oberstenfeld a wine-growing exhibition. On display boards and display cases the visitors are explained the historical background. As additional stations, a cooper workshop and a wagon-maker workshop are set up.
