Yamato period
The early Yamato period had seen a continual engagement in the Korean Peninsula until Japan finally withdrew, along with the remaining forces of the Baekje Kingdom. Several battles occurred in these periods as the Emperor's succession gained importance. By the Nara period, Honshū was completely under the control of the Yamato clan. Near the end of the Heian period, samurai became a powerful political force, thus starting the feudal period.