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Millersburg was founded in 1807 by Daniel Miller, for whom the town was named. The Millersburg Ferry and Millersburg Passenger Rail Station are listed on the National Register of Historic Places. During the spring of 1790, Daniel Miller and his brother, John were traveling north along the Susquehanna River. When they arrived at the north side of Berry's Mountain, tradition has it, Daniel was so taken with the beauty of the area where the Wiconisco Creek joined with the Susquehanna that he resolved to purchase the land at that location. On June 2, 1790, Miller received a deed for 979-1/4 acres at the mouth of the Wiconisco Creek from William Von Phul of Philadelphia, the owner of the land upon which Millersburg is now situated.