Originally founded in 2002 as Williamsburg Legacy, the team played in the USL Premier Development League (PDL), considered roughly equal to the NPSL, until 2009, after which the franchise folded and the team left the league. In June 2013, it was announced that the club would re-join the fourth tier for the 2014 season in the NPSL.
The Williamsburg Soccer Club was founded as an amateur sports association serving the local community in 1976. In 2001, the club joined the United Soccer Leagues (USL), creating a team franchised in the Premier Development League (PDL). The team was known as Williamsburg Legacy until January 2007, when Williamsburg Soccer Club merged with the nearby Colonial Football Club to form the Virginia Legacy Soccer Club. The PDL team then changed its name to Virginia Legacy to reflect the merge.
The Legacy would have a successful series of early years in the PDL, earning first or second place finishes in their division. Following the 2009 season in which the club finished 8th, the team would fold but continue to remain active as a youth and community soccer organization.
On June 4, 2013, it was announced that the Legacy would re-join the fourth tier of American soccer, this time in the alternative National Premier Soccer League (NPSL), to begin play in the Mid-Atlantic Conference in 2014.
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