Matt, it goes even further back then that. Back when Neanderthal man first learned that his feet were not only for running but he could defend himself by kicking, a ruthless caveman filed the rights to kicking and later it has evolved to what is known as Taekwondo. If you look in caves you will see stick figures shown kicking and that is Taekwondo.
Another not to well known fact is that the Kihup that is heard in Taekwondo and many other martial arts was actually a grunt as Neanderthal man had poor speaking skills. Good at getting patents but very poor speaking skills.