This town was believed to be founded by a Malay chieftain named Nonong karugtong when he and a group of families founded a settlement at the banks of the junction of the Bantilan River and Sepa Creek present site of the Poblacion, long, long ago before the coming of Spaniards. This settlement was known as Binangonan del Ampon. Its first captain was Don Diego Mangilaya.

With the colonization of the country by Spain, there arrived in this town in 1578 a Spanish priest named Frey Esteban Ortiz. He plated the Holy cross and began the Christianization of the inhabitants. The first permanent church was established in 1696. Then upon order from the king of Spain the old name of Binangonan del Ampon was changed to Infanta, the name of the youngest daughter of the King of Spain, Philip.