Arilje was founded in the second half of the X century as a small settlement on the Roman road from Pozega to Ivanjica.  Then it was called Moravica by the river Moravica on which it is located.  During the same period, the refugees from Larissa brought the relics of St. Achilles (after whom the settlement was later named) to the site of today's church.   Sava Nemanjic, Sveti Sava designated the Arilje monastery as the censor of the Moravian Diocese in 13. century. During the Great Migration of Serbs in the seventeenth century, Arilje and its surroundings remained desolate.  The new population came from Herzegovina and Montenegro.  A significant event for the Arilje was the proclamation of the small town in 1880.  by Prince Milan Obrenovic.

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