In 1926 Sensei Tomiki met Master Morihei Ueshiba. Professor Tomiki was very impressed with Master Ueshiba's techniques of Aikido and he began to study the art of Aikido. Kenji Tomiki soon earned an 8th degree black belt from Master Ueshiba, the first person to receive the highest degree from Master Ueshiba. Eventually Sensei Tomiki came to the belief that Aikido needed to incorporate aspects of free practice, much as Judo does, in order to develop more effective techniques. This is where he developed the idea of what is now known as the 17 techniques of kihon-no-kata.

During 1951 Professor Tomiki became the head coach of Judo at Waseda University, and he taught both Judo and Aikido to his students. In 1958 Aikido at Waseda separated from Judo and the Waseda Aikido Club was recognized. Aikido shiai (competition) had been taught since 1960 with opponents trying to win points from one another for completing throws and joint locks to the attackers. In 1966 a new mehtod of Aikido shiai was begun where bare hand defense agianst a knife was involved. Defenders receive points for successfully avoiding being cut by the blade and applying Aikido techniques to their attackers, where today's knife randori began.

Aikido Championships are held annually in Japan, and the first International Tomiki Aikido Championship Festival was held at Nara, Japan on June 18th, 1989.