Providing a historical overview of 50 years of fusion research, a review of the fundamentals and concepts of fusion and research efforts towards the implementation of a steady state tokamak reactor is presented. In 1990, a steady-state tokamak reactor (SSTR) best utilizing the bootstrap current was developed. Since then, significant efforts have been made in major tokamaks, including JT-60U, exploring advanced regimes relevant to the steady state operation of tokamaks. In this paper, the fundamentals of fusion and plasma confinement, and the concepts and research on current drive and MHD stability of advanced tokamaks towards realization of a steady-state tokamak reactor are reviewed, with an emphasis on the contributions of the JAEA. Finally, a view of fusion energy utilization in the 21st century is introduced.