[2] According to legends, Narsinghpur was founded in the 13th century by two powerful Khond chiefs named Narsingh and Poro,[2] the state being named after the former, who were defeated by a chieftain Dharma Singh.

Historically, no records or farmans exist about Narsinghpur during both the Mughal and Maratha Empires.

Eventually it was under the Puri Gajapati raja under whom it was a feudatory state, that the local chief received the title Harichandan Mahapatra.

The last ruler of Narsinghpur Princely State signed the accession to the Indian Union on 1 January 1948.

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