Birth of String Theory

This is a brief summary of an introductory lecture for students and scholars in general given by the author at Nambu Memorial Symposium which was held at Osaka City University on September 29, 2015. We review the invention of string theory by Professor Yoichiro Nambu following the discovery of the Veneziano amplitude. We also discuss Professor Nambu’s proposal on string theory in the Schild gauge in 1976 which is related to the matrix model of Yang-Mills type.