According to the Geographic Names Information System, it has also been known historically as the "Peelbark River".

The Bark River rises in southern Washington County at Bark Lake In Richfield, WI and flows generally southwestwardly through Waukesha and Jefferson counties, past the communities of Hartland, Delafield, Summit Dousman and Rome, and through several small lakes.

It joins the Rock River in Jefferson County just east of Fort Atkinson.

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