Choi Yong Sul began martial arts training at a young age with the Samurai master and founder of Daito-ryu Aiki jujitsu, Sokaku Takeda.  In later years upon returning to Korea, he taught the skill that he created, combining it with the Traditional Korean arts and  naming it "Hapkido," which means COLLECT, POWER, WAY.   Hapkido employs joint locks, pressure points, kicking, punching and break fall techniques.