Lu was a vassal state during the Zhou dynasty of ancient China located around modern Shandong. Founded in the 11th century BC, its rulers were from a cadet branch of the House of Ji (姬) that ruled the Zhou dynasty. The first duke was Boqin, a son of the Duke of Zhou, who was brother of King Wu of Zhou and regent to King Cheng of Zhou.

Ancient Chinese states were dynastic polities of China within and without the Zhou cultural sphere prior to Qin's wars of unification. They ranged in size from large estates, to city-states to much vaster territories with multiple population centers. Many of these submitted to royal authority, but many did not—even those that shared the same culture and ancestral temple surname as the ruling house. Prior to the Zhou conquest of Shang, the first of these ancient states were already extant as units of the preceding Shang dynasty, Predynastic Zhou, or polities of other cultural groups. Once the Zhou had established themselves, they made grants of land and relative local autonomy to kinfolk in return for military support and tributes, under a system known as fengjian.