Heusden is located on the river (Bergsche) Maas. The history of the town began around the year 1200 with the establishment of an urban settlement. During the Eighty Years’ War (Tachtigjarige Oorlog: 1568-1648) against the political and religious hegemony of of Spain, massive fortifications - with earthwork ramparts with bastions, moats and ravelins - were built on the orders of Willem van Oranje. Heusden became an important garrison town with thousands of soldiers.

Towards the end of the World War II Heusden was seriously damaged. The fortress has been fully restored since 1968. The restoration of the town was based on the 17th century drawings made by the famous Amsterdam cartographer Joan Blaeu.

The city harbour of Heusden was built during the construction of the fortifications after 1580. In 1904 the inner harbour was filled in to create a city park, but in the 1970’s it was restored to its original form. Nowadays it is one of the picturesque corners of Heusen with a white drawbridge and a black postmill (one of three on the ramparts).