Established in 1976 as a bicentennial project, the History Center includes buildings from Escondido's early development that were moved to Grape Day Park. Heritage Walk Museum includes the city's first library, a turn-of-the-century Victorian home, barn, 2 windmills, working blacksmith shop, city's Santa Fe railroad depot, a railroad car, a ten-ton Native American metate (grinding rock), tankhouse, herb garden, and outhouse.

The City of Escondido owns the buildings, while the Escondido History Center owns all contents and maintains their interiors. Museum tours are offered every Tuesday through Saturday afternoons from 1pm to 4pm. Start your tour in the Depot where you will find exhibits on the railroad and city development. A docent will take you from the depot to the railroad car, Victorian house and barn to tour those buildings. Classes are in session in the blacksmith shop on Saturdays, except during summer. Volunteers work and demonstrate in the shop Tuesday through Friday. The city’s first library houses the History Center office, as well as photographs and changing exhibit space. It is open Monday through Friday from 8am-4pm.

Grape Day Park is located at 321 N. Broadway, originally Lime Street, and is Escondido's only downtown park. It was originally the site of the Lime Street School, the city's first school, which was torn down in 1909. Two palm trees that stood at the entrance to the school still stand near Broadway. Grape Day, a community celebration, started in 1908 and after the school was torn down the Chamber of Commerce purchased the property and city dedicated the area as Grape Day Park. From 1908 until 1950 the park was the setting for the city's biggest celebration, Grape Day. In 1996 Grape Day was revived and once again takes place in September. Other features in the park include a giant eucalyptus tree planted circa 1909, numerous old pepper trees, a veteran's memorial, rose garden and Vinehenge, a unique grape themed children’s play area . Escondido's City Hall sits at the south end of the park, the History Center is situated on the north end and the California Center for the Arts, Escondido is adjacent, facing Escondido Boulevard.