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The main attraction is Haltenbergstetten Castle, first built around 1200 by the House of Hohenlohe. The lands of Haltenbergstetten probably originally belonged to Pfitzingen Castle, which was located in a neighboring village. Conrad of Pfitzingen, who was already mentioned in documents in 1136/1141, was probably the father of Konrad of Weikersheim, the progenitor of the House of Hohenlohe, first mentioned in 1153.
Haltenbergstetten Castle was enlarged around a courtyard in the 16th century. Through feudal changes of ownership in the Middle Ages and later through inheritance, the castle was later owned by the Counts of Castell, the Counts of Limpurg, the Lords of Rosenberg, the Counts of Hatzfeld (1641–1794), the Bishopric of Würzburg and, from 1803, by the Princes of Hohenlohe-Jagstberg who still own and inhabit it today.
