Legacy has its roots in Irish step dancing. Two of the members (Patti and Kevin) had children attending the Shamrock School of Irish Step Dance and were frequently being asked to play during practice. Tom was asked to join during one rehearsal and the three ended up playing several sets for the spring recital and St. Patrick's Day festivities at the Mall of America, Bloomington, and Landmark Center, St. Paul, in the year 2000. Oftimes asked to fill time during costume or shoe changes, Kevin would sing a capella; realizing the potential of having songs at the ready, this informal group approached David with the request to join them.

Legacy offers a balanced diet of songs (traditional pub, ballad, and contemporary styles) and dance tunes (traditional Celtic offerings as well as more stylized arrangements in the Celtic idiom).