Upton was originally the home of the Nipmuc, who inhabited most of central Massachusetts. The town was first settled in 1728. Residents in outlying areas of surrounding towns were finding it difficult to fulfil the obligation to attend church every Sunday, so they petitioned the state for creation of a new town central to their homes, and in 1735 Upton was incorporated, taking land from Hopkinton, Mendon, Uxbridge, and Sutton.