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Its name, meaning "on the road", refers to the historic trade route Via Regia from Leipzig to Frankfurt on which it was located. Steinau is best known for the Brothers Grimm who spent part of their childhood here. Steinau is located at an elevation of around m above NHN in the valley of the Kinzig river which divides the hills of the Spessart to the south from the Vogelsberg to the north.
The municipal territory extends into both ranges. The name Steinau likely is derived from Steinaha , Alemannic for "water flowing over rocks". Archaeological evidence indicates that there was a small settlement in this area in the 8th century. The first church was built in the 9th century.
In the midth century, St. Catherine's Church was big enough to accommodate burials on its grounds. On 4 July , Emperor Rudolf von Habsburg granted a charter awarding Steinau the status of town and permitting it to hold a weekly market. This may have been motivated in part by Steinau's position on the Via Regia connecting Frankfurt and Leipzig. This charter is considered the municipality's founding document. The town's heyday was in the 16th century, when the town church was rebuilt in Gothic style and increased in size.
In the castle, since the 13th century a residence of the Counts of Hanau was rebuilt as a Renaissance palace. Schloss Steinau with its 35 m high bergfried remains the town's landmark. In , the town hall was built, followed a year later by the Amtshaus , seat of the Amtsmann , the local representative of the ruler.
Like many other towns, Steinau suffered severely during the Thirty Years' War which brought plundering, fire and the plague. Another setback followed in the 18th century during the Seven Years' War. Only in the later part of that century did an economic upturn set in. The Brothers Jacob and Wilhelm Grimm , famous for their collections of fairy tales and folklore, lived in Steinau during their childhood. Their grandfather, Friedrich Grimm had been a Protestant minister in Steinau, and their father, Phillip Grimm, returned to his boyhood home as Amtmann clerk in The family lived in his official residence Amtshaus until , when Phillip died.