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The castle was first mentioned in 1233 and has been destroyed several times in its eventful history. In 1858 the princes of Hessen-Darmstadt, who studied in Gießen, acquired the lower castle and had it restored. The upper castle, of which part of the palace has survived, has been the property of the city of Staufenberg since 2002. A freely accessible viewing platform has been set up on the north-east corner tower, which is about 13 metres high and can be climbed over the still partially preserved stair tower. The Lower Castle, which had been converted into a hotel, was sold to the State of Hesse in 2002. The lower castle now houses the Hotel Burg Staufenberg