The town is part of the scenic route called "Romantische Straße" (Romantic Road) with one of the most impressive remaining medieval castles in Germany.

The name of the town is usually interpreted as deriving from the Middle High German term horo, meaning "Swamp or bog".

In 1093 the name Harburg appears for the first time by Mathilde de Horeburc, the wife of Count Kuno of Lechsgünd.

As early as 1250, the town received market rights, but the following year it was pledged by King Konrad IV to Count Ludwig III of Oettingen.

The arched structure was built in 1729 after a devastating flood, consisting of stone blocks with seven bays and covered pillars.

Reached from the stony bridge you get to the old town and the market square with a bronze fountain, which tells a lot about the history of Harburg: