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It is one of Germany's largest towns by land area. Bad Berleburg lies in the northeast of Siegen-Wittgenstein in the middle of the Rothaargebirge , a low mountain range. The western town limit is also the boundary with the neighbouring district of Olpe. The town is also bordered on the north by the Hochsauerland district. The town's eastern limit is likewise the boundary with the Bundesland of Hesse. The small river Odeborn flows through Berleburg and empties into the Eder further south.
Archaeological finds confirm that the area covered by today's municipal area was settled as far back as the 7th century BC. On the castle hills at Aue, Dotzlar and Wemlighausen are traces of circular forts from this time. There is, however, no evidence of settlement in the area for the time that follows, up to the 8th century.
The constituent communities of Arfeld and Raumland were mentioned in documents in and respectively. There are also documents from confirming the existence of Alertshausen, Beddelhausen, Elsoff and Schwarzenau. In , the name "Widechinstein" was mentioned for the first time. The village of Berleburg is mentioned for the first time in in documents from the Grafschaft Abbey in this instance Grafschaft is a location rather than the German word for "county" , under the name Berneborg.
In , this double overlordship in Berleburg was ended by Widekind von Grafschaft when he forwent his rights to the town in Siegfried II's favour. Siegfried was the last of his noble line, and when he died, the inheritance went to his son-in-law, Salentin von Sayn. He founded the House of Sayn-Wittgenstein.
Until Count Ludwig the Elder's death in , Berleburg was developing itself into a capital and residence town of the County of Sayn-Wittgenstein-Berleburg, which in the 18th century was a centre in Germany for the Inspiration Movement, which had grown out of radical pietism.