Urbach is a municipality in the district of Rems-Murr in Baden-Württemberg, Germany.

On 25 May 1181 Frederick I, Holy Roman Emperor "Barbarossa" issued a certificate in which he took the monastery at Adelberg under his protection.

Since their formation in 1819, the agricultural Oberurbach and the more industrial Unterurbach were two separate municipalities.

Ober-and Unterurbach belonged initially to Oberamt Schorndorf and became part of the district of Waiblingen in 1938.

In 1970 Ober- and Unterurbach were merged to form the district of Urbach.