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The first settler in these places is the hermit Joseph, who settled here in 1627. Other hermits began to flock to Joseph, who formed a community and built the Church of the Holy Trinity. In 1635 the community was renamed the Kozlovsky Trinity Monastery.
Kozlov was founded on the Kozlov tract by the sovereign decree of Tsar Mikhail Fedorovich, dated September 5, 1635, as a fortified point (earth town) for the defense of Ryazan Ukraine, as well as Shatsk, Ryazha and Dankovsky places from the raids of the Crimean and Nogai Tatars.
The construction of the fortress, on the banks of the Lesnoy Voronezh River, near the Kozlovsky Trinity Monastery, was led by the governors I. Birkin (Burkin) and M. Speshnev.