The paper deals with the origin and development of andragogy in Slovakia. Its aim is to present the constitution, development, and system of andragogy in Slovakia by means of a historical analysis and based on that analysis, the discovery, recognition, and interpretation of facts from the scientific works of the most important representatives of andragogy. The concept of andragogy as an integral part of the educational sciences began to take shape in Slovakia in the 1990s in the new social and political conditions. This process was based both on the traditions of adult education in Slovakia and on the theoretical foundations of adult pedagogy, mainly the works of foreign representatives of andragogy. The paper presents and discusses the systematisation of andragogy, the content definition of general andragogy, and the basic and applied disciplines of andragogy. Contemporary Slovak andragogy presents a conceptually and substantively elaborated theory of adult education.