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Bad Rappenau is situated at an altitude of 250 m in the hill country of the upper Kraichgau region. The first mention of Rappenau in a document dates from 1190. The village itself began to develop in the mid 14th century. The Renaissance castle of Rappenau was built in 1601 and today is used by the city administration. The history of Bad Rappenau as a spa goes back to 1822 when a rich salt deposit was found at a depth of 175 m. Soon, plans were made to use the saline for bathing cures. A petition was sent to the Grand Duke of Baden, but as the state did not show any interest to establish a spa itself, a public limited company was formed in 1832. The first spa bath opened two years later. The predicate 'Bad' (spa) was awarded in 1930. Bad Rappenau obtained the official status of a town in 1973.

The building of the Sanatorium [left] was opened in 1912. It was established by the Heidelberg physician Oscar Vulpius as a treatment facility for bone, joint and endocrine diseases. Today it serves as an orthopaedic hospital (named after its founder Vulpius-Klinik).