The mission traces its origins to September 8, 1565, when Admiral Pedro Menéndez de Avilés landed with a band of settlers to found St. Augustine.
Fr Francisco López de Mendoza Grajales, OFM, the chaplain of the expedition, celebrated the first Thanksgiving Mass on the grounds.
First the Jesuits and later the Franciscans ministered to the resident Spanish colonists, and made some efforts to evangelize the local Mocama and Agua Dulce peoples near St. Augustine.
The museum's exhibits also include vestments and chalices from the Diocese of St. Augustine's archives, artifacts found during the archaeological excavations of the mission grounds, and coquina that was part of the original foundation of the chapel.
The Prince of Peace Votive Church was constructed in 1965 and is situated at the San Marco Avenue entrance to the Nombre de Dios Mission grounds.
[11] Mission Nombre de Dios's grounds include archaeological excavations, a historic cemetery, Marian Shrines to Our Lady of Perpetual Help and Our Lady of Guadalupe, a gift shop, a bell tower, fountains, the rustic altar, mission plaques and historical markers, monuments of the Seven Sorrows of Mary, and statues of Father López, Saint Francis of Assisi, and Saint Joseph.