On 1 September 1965, during the Indonesia–Malaysia conflict, a pioneer team was formed in Majidee Camp, Johor Bahru. Lieutenant Colonel Mahmood Sulaiman was appointed as its first commander and was tasked with growing the unit to combat size. The unit's strength was increased on 31 December 1965, and two new companies were formed: Battalion HQ Company and A Company. On 5 March 1966, 120 new soldiers were transferred to 9 RAMD, resulting in the formation of B and C Companies. Later, D Company was added, and the infantry battalion was officially established.