'andragogy' originates from Modern Greek, specifically the word 'andragōgia,' where 'andr-' meant 'man, adult' and '-agogy' meant 'leading or guiding.'

'andragogy' was formed in the 20th century as a counterpart to 'pedagogy,' and eventually became the modern English word 'andragogy.'

Initially, it meant 'the method and practice of teaching adults,' and this meaning has remained consistent in modern usage.