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A settlement in this location was first mentioned in 1046. The town features Mildenstein Castle which is over 1000 years old. The house Markt 13 shows the coat of arms of the Apian family.
The museum at Mildenstein Castle was founded in 1890 by the Leisnig Historical and Antiquarian Society. In addition to an exhibition on the history of the castle, which includes important finds such as Bohemian glasses from the 14th century, there are also newly established exhibitions on the penal system and the Leisnig office. In the boot museum on the outer bailey, inaugurated in 2006, the town's landmark, the Leisnig Giant Boot, is exhibited. In the town hall a small gallery is maintained with exhibitions that change several times a year.
