History of the town dates back to 1206, when – together with neighboring villages, Kozienice was owned by the Norbertine Nuns from Płock. Subsequently, it used to belong to Polish crown, and remained so until the Partitions of Poland. In 1326 Kozienice was incorporated by King Władysław I the Elbow-high. Located on the ancient road from Kraków to Vilnius and on the edge of the Kozienice Forest, the town became one of favorite retreats of King Władysław II Jagiełło, who founded a church there in 1394. Due to close proximity of the Kozienice Forest and, thus the easily accessible wood supply a pontoon bridge was built over the river, which was later moved to Czerwińsk and used by Polish troops to cross the Vistula (Wisła) between June 30 and July 3, 1410 (see Polish–Lithuanian–Teutonic War).