Its name comprises the two words, mu (무, 舞) and go (고, 鼓) literally meaning dance and drum in Korean respectively.

According to "Akji" (악지, 樂志), two books from "Goryeosa" (고려사 高麗史) which describe the music of Goryeo dynasty, mugo originated from a government officer, Lee Hon (hangul:이혼, Hanja:李混) during the reign of King Chungnyeol (reign.

While being exiled to Yonghae (영해, 寧海), a coastal region in North Gyeongsang Province, Lee Hon one day made a large drum of a log raft and played it while dancing.

Later this dance was transmitted to the Joseon dynasty and was performed at various events of the Korean palaces and local government offices.

[3] Mugo is accompanied with court music Dongdongok (동돈곡) and Muaegok (무애곡) during the Goryeo period.