Hapkido is a Korean martial art that combines kicking, punching, and throwing techniques with joint locks, pressure points, and throws. It is a form of self-defense that emphasizes circular motion, non-resisting movements, and control of the opponent. Hapkido also includes traditional Korean weapons such as the sword, staff, and knife. The art was developed in the early 20th century by Choi Yong-Sool, who combined elements of other martial arts he had studied.