The book was a revised version of his earlier book entitled, "Aids to Scouting for N.C.O.s and Men" published in 1899. This earlier book was a military manual used by the Brisith Army to train Army Scouts. Upon his return to England, immediately following the Boer War, he learned that British schools have been using his books to teach boys lessons on observation and deduction. His decision to revise his military book into a book for boys came about on his attendance at the anniversary celebration of the Boys' Brigade. Baden-Powell noted to the Brigade's founder, Sir William Smith, that the Boys' Brigade could have ten times its membership (which was about 50,000 boys at that time) if it became more appealing to the boys. Sir William Smith then challenged Baden-Powell to re-write his book in a style that would make it available for boys.

The book was published in six parts in the early part of 1908 and was issued in book form on May 1, 1908. It inspired the formation of many Scout Troops in Britain as well as in other countries.