The origins of the upper house are not totally clear. It may have stemmed from a fortification dating to the Roman or Celtic period. Stein was first recorded in 1135. The romantic figure of the legendary robber knight, Hainz von Stein dem Wilden, is closely associated with the castle. He is supposed to have lived in the castle in the early 13th century and was written about for the first time by Lorenz Huebner in 1783 in a "tragic drama about the fatherland".
The castle itself was in the possession of the Toerring family from the 13th century to 1633 . Albert von Toerring-Stein was the Bishop of Regensburg from 1613 to 1649. Adam Lorenz von Toerring-Stein held the same office from 1663 to 1666.
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