 The town is bordered to the north by Böbingen an der Rems and Mögglingen, to the east Essingen, the south by Bartholomä and the west by the city of Schwäbisch Gmünd.Heubach was first mentioned in 1234 in association with knight Hainricus de Hôbach.Rosenstein Castle which is located on Rosenstein mountain was first mentioned in 1282.