First settlers came here in the early 13th century, invited by Prince of Kraków Leszek Biały. In 1338, King Kazimierz Wielki founded here parish church of St. Nicholas. At that time, the village belonged to a Czech knight named Nedan, hence its name Nedanowa Wola. According to a 1629 document, Pcim had two mills. In the Polish September Campaign, soldiers of the 10th Motorized Cavalry Brigade fought here defensive battles with the advancing Wehrmacht. During the war, Pcim was an important center of the Home Army. The village was flooded in the 2010 Central European floods.