Erected at the beginning of the 15th century by the Masovian prince Janusz I the Elder.
After 1570, the castle became part of the Kingdom of Poland, which contributed to the decline in its importance - it ceased to function as a border stronghold. Administrative functions began to take precedence over military ones.
During the Swedish Deluge in 1656 and during the Great Northern War - on 1703, the castle was burned down twice by the invaders.
Over the following years - until 1918 - the ruins became a place for local residents to obtain valuable building materials.
In 1942, the occupation authorities began to dismantle the ruins to make building materials for the extermination camp being built in Treblinka. Then Otto Warpechowski (1917-1945) took action. This young Polish archaeologist convinced the starosta Ernst Gramss that Liw was built by the Teutonic Knights! The misled German officer not only gave up on the demolition, but also decided with his superiors to start rebuilding the castle at the expense of the Third Reich.
The works were supervised by Warpechowski with the knowledge of the authorities of the Polish underground state. Within 2 years, he filled the largest holes in the walls, tidied up the hill area, covered the tower with a roof, made ceilings and floors, and organized an archaeological exhibition of monuments discovered during the exploration of the ruins.
In the years 1955-1961, research was carried out in this area, and then the reconstruction of the preserved tower with a fragment of the wall and the manor house from 1782 began.
In 1963, a museum of old weapons opened here, referring to the military past of Liw as a stronghold on the border of the Duchy of Masovia and the Grand Duchy of Lithuania.
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