The village was first mentioned in historical records in the year 1231.
During the late 17th century resistance developed among the nobility and serfs against the
Habsburg government, especially after the
Bratislava Diet in 1687, which passed measures that limited professional interests and privileges of the nobility. General hatred resulted in
Rákóczi's War of Independence, an uprising led by
Francis II Rákóczi.
In 1704, Rákoczi's rebel band (Kuruc) entered Slovakia. The village of Vavrišovo Kokava was burned during the ensuing war. In 1708, the Kuruc army suffered defeat at the
Battle of Trencin, and this was a turning point in the war. The locality was involved in the
Liptov campaign of August 1709. One of the last battles of the rebellion took place around the village of Vavrišovo.