Vaucouleurs takes its name from the Latin Vallis colorum, Valley of colors. The village appeared in Gallo-Roman times and developed with its first castle in 1026. It was here that in 1428 Robert de Vaudricourt was visited by a young girl who came to ask for an army to join Chinon. Supported by the people, who offered her a horse, a sword and men's clothes, Jeanne insisted three times, only to see her request granted. Today, Vaucouleurs continues to celebrate this historic event through the only museum in France devoted exclusively to Joan of Arc. Domrémy-la-Pucelle (native village) is about 20 km away.

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