Some accounts indicate that the town of Bacoor, also named Bakood or Bakoor (named after "Fence" made of bamboo, Fence in Pilipino is "Bakod"), was founded in 1671. When the Spaniard troops arrived in "Bacoor", they met some local inhabitants in the process of building a fence around their house. The Spaniards ask the men what is the city's name, but because of the difficulties in understanding each other, the local inhabitants thought that the Spaniards were asking what they are doing. The men answered "Bakood". It was then pronounced Spanish which is "Bacoor" by the Spaniards soldiers and was soon officially called "Bacoor".

Bacoor was also the site of the Battle of Zapote Bridge in 1899 which involved Philippine and American troops. It was in this battle where Gen. Edilberto Evangelista was killed.

In the aftermath of the Philippine Revolution which coincided with the declaration of the first Philippine independence on June 12, 1898, Bacoor was designated as the first capital of the Philippine Revolutionary government by Gen. Emilio Aguinaldo until it was transferred to Malolos, Bulacan. "Gargano" was then the revolutionary name assigned to Bacoor by Aguinaldo's henchmen.

During World War II, The occupation from the Japanese Imperial armed forces entered the towns in Bacoor on 1942 during the Japanese Invasion. From 1942 to 1945, many several of the Caviteños between men and women was joining the strong group of the recognized guerrillas under the Cavite Guerrilla Unit (CGU) and the Filipino-American Cavite Guerrilla Forces (FACGF) led by Colonel Mariano Castañeda in the towns of Bacoor and arrvial by the local Filipino soldiers under the ongoing 41st and the pre-war 4th and 42nd Infantry Division of the Philippine Commonwealth Army during the Japanese Occupation.

From January to August 1945 during the Allied Liberation, Filipino soldiers of the 4th, 41st and 42nd Infantry Division of the Philippine Commonwealth Army and the 4th Infantry Regiment of the Philippine Constabulary including the Caviteño guerrilla fighters of the Cavite Guerrilla Unit (CGU) and the Filipino-American Cavite Guerrilla Forces (FACGF) was liberated and recaptured the towns in Bacoor and defeating Japanese Imperial forces and ended in World War II.