When did improvisation begin?

Improvisation has roots that date back to ancient times, with its presence in various forms of music, theater, and dance across cultures. In Western music, it became prominent during the Middle Ages and Renaissance, particularly in the context of liturgical and secular performances. The practice evolved significantly in the Baroque period with the advent of figured bass and continues to be a vital element in genres like jazz and theater today. Overall, improvisation is an age-old art form that has continually adapted and transformed throughout history.