In 1691, the mission of San Francisco Xavier was founded by Jesuit missionary José de Arce.

In 1696, due to the incursion of Paulistas from Brazil, the mission was relocated to the San Miguel River.

It was relocated again in 1698, this time closer to Santa Cruz, due to another Paulista incursion.

[2][3] The Piñoco dialect of Chiquitano, now extinct, was spoken in San Javier.

[4] Today, Camba Spanish, which has many words from Piñoco, is spoken in San Javier.