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Liu Zi Jue, a traditional mind–body health technique, is highly regarded and has been widely spread nowadays due to its easy learning, easy operation, and demonstrable physical and psychological therapeutic value. However, due to the lack of understanding of its complex development process, practitioners and researchers are easily confused by different versions. This study identified the historical development of Liu Zi Jue systematically, and then divided it into three stages, including (a) the creation, which was a breathing regimen; (b) the transition, which became a therapeutic form of Vipassanā (insight meditation) and was identified as a new relationship between the six sounds and internal organs; and (c) the formalization, which became a comprehensive regimen that integrated Tu Na (breathing techniques in Qigong), mindfulness, Dao Yin (movement–breath–mind techniques, helping the stagnated Qi to flow smoothly), and natural and seasonal nurturing. Besides, future research directions are proposed.