During the Edo period, exchanges between Japan and Korea began when Japan approached the Joseon side to dispatch ambassadors to restore diplomatic relations between the two countries, which had been severed after Toyotomi Hideyoshi's invasion of Korea during the Bunroku and Keicho periods.
In 1607 (Keicho 12), the first envoy was dispatched to the Edo Shogunate.
On June 29 (May 6), he presented a letter of state to Tokugawa Hidetada, who had succeeded to the shogunate in Edo, and on his way back, he had an audience with Ieyasu Tokugawa, the great lord in Sunpu.
The Korean delegation to the Shizuoka Festival recreated this legend.
It is said that Lord Ieyasu, who strongly wished for peace with the Joseon Dynasty, greatly welcomed him.