The first written notice about Ľubica is from the year 1251. The Ungarian King Stephan V. awarded Ľubica municipal rights in 1271. From that time forward it became a king´s town.
   
In the 17-th century it was one of the riches towns in the Spiš region. It had a right to promote open markets three times a year. About twenty guilds were active here. Economic development of the town declined while it was (as a part of a deposit) given to the Polish King Zigmund as counter-value for the financial loan between 1412 and 1772. The spa in Ľubica was opened for public in 1714, but it was closed in 1952, when a military training field was established close to the town. In 1878 it was officially transformed from a town into a village.
   
Historical centre with a large number of townsmen, craftsmen and farmer´s houses remained preserved up to present day. You will find there the biggest two-naves church in the Spiš region - a church of Mary Virgin from the 13-th century. Inside, there is a gothic altar with a statue of Madonna made by master John Paul from Levoča. Other important cultural monuments are: a gothic church of St. Ghost, an evangelic baroque-classicistic church and the highest Mariany column with a statue of Immaculata in the Spiš region.
   
Ľubica completely burned down several times. A firemen engine from the 19-th century is still operational.
   
Dávid Fröhlich (1595 - 1648), a professor of mathematics and an astronomer, was the first one who climbed up to the Kežmarský Pinnacle in 1615. He was born in Ľubica. He wrote geographic books - Medulla geographiae practicae (1639) and Bibliotheca seu Cynosura Peregrinantium (1644), describing the first known information about the High Tatras.