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The first written record of Aa dates back to a 1241 Danishcensus (Liber Census Daniae) where its name was listed as Hazæ. Later it was known also by its German name Haakhof. The village was located on the territory of the historical Lüganuse Parish of the county of Virumaa.
The Aa manor house (first built 1426-1487) now houses a home for aged people. Other noteworthy sights in Aa include a former garden pavilion (now chapel), the manor park (Aa park, 65,000 m² nature protection area), a pine grove, youth camp Giideon of the Estonian Methodist Church, and a sand beach.