It began as an experimental camp for around 20 boys on a tiny island. Now it is the biggest voluntary youth movement in the world.
When Baden-Powell organised that nine-day Brownsea Island trial in the summer of 1907, he could barely have imagined what it would spawn.
He recognised that throwing together a group of lads from opposite ends of the social scale, to live and work together on an island less than two miles long and half that in width, was always going to be a gamble.
But it was certainly a gamble that paid off, and now the 500-acre island - nestling just inside the entrance to Poole Harbour in Dorset - that pioneer group of boys, and their leader, have their own slot in history.
Many of the activities at the heart of that first camp have, perhaps surprisingly considering society's evolution over the past century, stood the test of time.
Utilising skills he had learned during his impressive military career, Baden-Powell taught the likes of tent pitching, shelter building, tracking and how to cook on open fires.
Whilst these elements are still found in modern-day Scouting, the movement has undergone massive changes - especially in the past four decades - to keep pace with the needs and desires of young people.
It was the consignment to the past of wide-brimmed hats, baggy khaki shorts and dyb-dyb-dyb in the 1960s that marked the real start of the organisation's overhaul.
Although these changes alone failed to shake off the dated public perception of Scouting held in many people's minds, they at least demonstrated that the movement had recognised the need to adapt and was prepared to move forward.
That philosophy laid the foundations for future change, and periodic overhauls of badge and training programmes and uniform have followed.
The 1990s marked a further major chapter in the Scouting story, and perhaps its most controversial, with the introduction of girls to its ranks.
Although opposed at the time by many traditionalists, and feared by sceptics concerned about the mechanics of a so-called co-educational approach, the move has proved hugely successful.
Now - with the latest set of new uniforms, sections, training programmes and badges in place - another era is dawning.
Mrs Jeanette Young, Keighley's district commissioner, says the young people themselves have unprecedented influence in the running of today's organisation.
And recent changes - including the introduction of an Explorer Scout section, for 14 to 18-year-olds - are already producing dividends.
The section runs in close tandem with the Duke of Edinburgh award scheme, enabling members to work towards the DoE while also progressing through the Scout training scheme.
"This age group has always traditionally been the most susceptible to problems with retention, but we have a strong and enthusiastic Explorer unit and numbers are rising," said Mrs Young.
"From their base in the grounds of East Riddlesden Hall, they run a varied programme of activities covering all aspects of Scouting, and organise social events.
"They very much set their own agenda - they have their own chairman and treasurer etc, and plan activities around other non-Scouting needs such as school and college exams.
"Nowadays Scouting is tailored around the young person, not the other way round.
"When these latest changes were in the planning stage, the thoughts and desires of the young people were taken on board - they chose the uniforms, the badges and the progressive training programme.
"Members wanted while working towards their Queen's Scout Award and other badges to also work on the DoE, and now in Keighley they are doing just that through monthly meetings at the Parkwood Young People's Centre.
"The appeal of the Scout movement is wider than ever before and there are few barriers to what can be achieved.
"In recent years we have had expeditions from this district to Australia, America and Europe. Activities undertaken regularly by our members range from climbing, canoeing and gliding to community projects. Most public events in the area, such as galas, have Scout representation in some form.
"In addition we have developed an excellent partnership with Keighley College, which enables youngsters to try their hand at skills including dry-stone walling, painting and decorating, joinery, car mechanics, pottery and IT."
The latest section changes to the Scout movement have also seen the introduction of the Network, for 18 to 25-year-olds. Age ranges for the Beavers (six to eight) and Cubs (eight to 10-and-a-half) have remained unaltered, while Scouts transfer to Explorers at 14.
The success of the Keighley Scout district, which geographically and numerically is among the biggest in West Yorkshire, has, however, produced a downside.
The need for more leaders has also grown.
"Leaders and adult supporters all give their time voluntarily and we are fortunate in this district to have an excellent team, but in many ways we have become a victim of our own success," said Mrs Young.
"Our growth has created a gap, and we are looking for people to help fill that gap.
"The role of leader is tremendously enjoyable and rewarding, and it can give you an opportunity to learn new skills or gain nationally recognised qualifications in a particular field. Someone interested in walking, for example, may want to work towards a mountain leadership certificate.
"It also helps individuals gain inter-active personal skills.
"We welcome people of all ages and abilities. Previous Scouting experience is not necessary, just plenty of enthusiasm. Full training and support is given."
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