Hinterburg is one of the four castles in a string along the Neckar River, built by the von Steinach family in the 1100s. It is the oldest of the four, serving a strategic purpose in allowing the lords to observe the Neckar and Steinachtal. One of the earliest records mentions Bligger von Steinach, c. 1160. His son, Bligger II, who was also a famous minstrel of the time, added much of the outer wall that helped drastically improve the castle's defensive posture. At one time it also had a dry moat with a drawbridge. The castle continued to be used up until the 1600s, largely in the service of the Elector Palatine. Afterwards it began to decay from neglect as it lost its importance in the era of cannon. There is no indication that it was ever seriously besieged.
References:The first written record of church in Danmark locality date back to the year 1291. Close to the church are several stones with a Christian text and cross inscribed. The oldest parts of the present red-brick church are from the 1300s. In the late 1400s the church was enlarged to the appearance it has today. The church has been modified both internally and externally several times, among other things after the fires in 1699 and 1889. There are lot of well-preserved mural paintings in the walls.