The collections of neurons within the white matter of the central nervous system (CNS) are called nuclei basales (NB). The discovery and identification of NB, one of the most mysterious and complex structures of the CNS, took many years. The knowledge we have today about these structures was gradually acquired in the 1500s, thanks to the tremendous efforts of several pioneering scientists, primarily neurologists Thomas Willis and Karl Friedrich Burdach, who did research on brain anatomy and physiology. They contribute to some cortical functions such as NB, planning, learning and modulation of movement, memory, eye movements, reward and motivation. There are still some uncertainties about the definition of these neuron groups, which are effective on the control of motor movement and sensorimotor integration, and which pathways they use while performing their functions. Therefore, what are the nuclei forming NB? How is the classification done? Some questions still await answers, especially about which nucleus has an effect on sensorimotor functions and how. In this book chapter, the history of these subcortical structures that play an important role in the control of motor behavior and sensorimotor integration is briefly reviewed.