The location is in the southern Franconian Jura at the confluence of the Morsbach into the Anlauter in the Altmühltal Nature Park. The village is four kilometers from Titting and two kilometers from Altdorf.
Emsing is considered an "-ing" place, likely a Bavarian foundation from the 6th century, and was already Christianized when the Anglo-Saxon monk Willibald founded a missionary monastery in nearby Eichstätt in 740. A local nobility is documented from 1158 to 1169; moreover, in 1158 the Eichstätt cathedral chapter owned properties in "Omegesingen," the number of which is later stated to be seven. In 1239, the Augustinian canons of Rebdorf also had property in Emsing. In the conflict over the Hirschberg inheritance after the extinction of the Hirschberg family in 1305 with the last Eichstätt burgrave Gebhard VII, the village came under the Hochstift Eichstätt, initially managed by the bishop's office at Burg Brunneck, and from the mid-16th century until the secularization in 1803 by the Titting stewardship, which exercised both high and low jurisdiction. A tavern was established here in 1312 by Bishop Philipp. In 1480, the parish of Emsing had a cooperation and, with Biburg, Erkertshofen, Grafenberg, Heiligenkreuz, St. Martin in Titting, and Petersbuch, had six branches, making it the center of an original parish of the Diocese of Eichstätt; this remained unchanged as late as 1602. In 1486, the Emsing feudal estates of the Rebdorf monastery came into bishopric ownership. In 1595, the parish rectory was rebuilt; according to a visitation report from 1622, the cathedral chapter was responsible for the construction and maintenance costs, but the pastors had to deal with disputes with the cathedral chapter in the following years. During the Thirty Years' War, the imperial army set up its winter quarters here in 1637. In 1647, the headquarters of the imperial general Gelen was located here. In 1724, an indulgence was established for the Sebastian Brotherhood. In 1783/84, a new construction of the rectory took place again.
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