Pilates was developed by Joseph Pilates in the 1920s drawing on Eastern practices such as Yoga and Zen and inspired by perfection through body, mind and spirit. Initially, the Pilates method targeted the rehabilitation of former prisoners of war. However, the Pilates method was found to benefit a wider range of people.Joseph Pilates had been an unhealthy child in Germany, which inspired his search for self-improvement systems.

Joseph Pilates lived in England as a circus performer and boxer until he was forced into internment in England during World War One. It was during this time when Joseph Pilates developed floor exercises (which later evolved into the Pilates Mat Work). After the war, Joseph Pilates went to New York to establish a studio with his wife Clara Pilates. Joseph Pilates further developed the Pilates method utilizing material to create resistance equipment. Joseph Pilates further evolved the Pilates method, which he initially called Contrology.

Joseph Pilates described his Contrology method as the comprehensive integration of body, mind and spirit and advocated quality exercise over quantity exercise. As a result, each movement in the method must be done efficiently, smoothly and accomplished with full attention. Joseph Pilates found that efficient and smooth movement could be achieved by breathing fully and developing core strength.