Although Tang Soo Do is a relatively modern martial art its basis, the Korean art Soo Bahk Do, has been in existence for many centuries. Soo Bahk originated during the Silla Dynasty in the years 618 to 935 A.D.. The name "Tang Soo Do" is literally translated to mean "the way of the China Hand". "Tang" represents the Tang Dynasty of China while "Soo" means hand and "Do" is defined as a way or system.

Grand Master Hwang Kee, founder of Tang Soo Do, mastered Soo Bahk Do and Tae Kyun, a Korean system known for its powerful kicks (not related to Tae Kwon Do), by the age of twenty-two. At that time, in 1936, he traveled to Northern China where he encountered a style of martial artistry called the Tang Method. From 1936 to 1945 he combined the techniques of Soo Bahk Do with those of the Tang Method and developed what was to be known as Moo Duk Kwan Tang Soo Do although it was officially registered in Korea on November 9, 1945 as the Korean Soo Bahk Do Association.

Tang Soo Do is a composite style made up of 60% Soo Bahk Do and 40% Chinese. It is both a hard and soft style. The term hard refers to the overt power and strength of the various techniques which are derived from the movements and the lack of direct confrontation. The softness of Tang Soo Do comes from the Northern Chinese influence.

The Cheezic Tang Soo Do Federation was formed by Grand Master Robert Cheezic. From 1959 to 1961, while serving in the U.S. Air Force in Korea, studied Moo Duk Kwan Tang Soo Do under the instruction of Grand Master Jae Shin, a student of the style's founder, Hwang Kee.

In 1960, Cheezic was awarded black belt number 2278 by Hwang Kee. Among the first Americans to earn black belt distinction in Korea, Cheezic’s classmates included Bob Thompson, and actor Carlos (Chuck) Norris, with whom he has remained friends. At the conclusion of his duty in Korea, Grand Master Cheezic returned to his hometown of Waterbury, Connecticut, where he began teaching this newly learned art. Cheezic worked full time at the Anaconda Brass and Atlantic Richfield Companies during the day and taught Tang Soo Do in the evenings in a school gymnasium before opening his own studio, The American Tang Soo Do Academy. It was the first Tang Soo Do dojang ever established in the Northeast region of the United States.

Grandmaster Robert A. Cheezic has spent the last forty-five years educating more than twenty-five thousand martial artists worldwide. He has promoted over two thousand black belts, has fiercely championed the cause of martial arts training for the specially challenged and is internationally respected for his efforts. He directs approximately fifty clubs throughout the United States and the world, including Russia.