The Korean terms hyeong, pumse, poomsae and teul (meaning "form" or "pattern") are all used to refer to martial arts forms that are typically used in Korean martial arts such as Taekwondo and Tang Soo Do.

A hyeong is a systematic, prearranged sequence of martial techniques that is performed either with or without the use of a weapon. In traditional dojangs (training halls), hyeong are used primarily as a form of interval training that is useful in developing mushin, proper kinetics and mental and physical fortitude. Hyeong may resemble combat, but are artistically non-combative and woven together so as to be an effective conditioning tool. One's aptitude for a particular hyeong may be evaluated in competition. In such competitions, hyeong are evaluated by a panel of judges who base the score on many factors including energy, precision, speed, and control. In western competitions, there are two general classes of hyeong: creative and standard. Creative hyeong are created by the performer and are generally more acrobatic in nature and do not necessarily reflect the kinetic principles intrinsic in any martial system.

Beginning in 1946, shortly after the conclusion of the Japanese occupation of Korea, new martial arts schools called kwans were opened in Seoul. These schools were established by Korean martial artists who had studied primarily in Okinawa and China during the Japanese occupation. Accordingly, the martial arts practiced in the kwans was heavily influenced by shotokan karate and Chinese martial arts, though elements of taekkyeon and gwonbeop were also incorporated.

Five of these kwans were established during the interval between World War II and the Korean War. During the Korean War, establishment of new schools was halted; at the conclusion of the war four new schools were established by students from the five original kwans. Collectively, these schools are referred to as the nine original kwans of taekwondo. Each kwan practiced its own style of martial art (the term taekwondo had not yet been coined) and employed their own set of forms. The majority of the forms used, however, derived from Shotokan karate. In many cases they were given new names. These forms are still used today in martial arts style such as Tang Soo Do, Soo Bahk Do, Moo Duk Kwan Taekwondo, and Chun Kuk Do. The article Karate kata lists many of the forms used in traditional taekwondo:

In addition to these Shotokan forms, Tang Soo Do and other traditional styles incorporate additional forms as well, many developed by Hwang Kee.

Kukkiwon-style taekwondo (and thus the World Taekwondo Federation) uses the word pumsae for form.

Prior to 1971, Kukkiwon-style taekwondo used a series of eight forms called the palgwae forms for color-belt forms. The term "pal-gwae" refers to the eight trigrams associated with the I Ching hexagrams. Symbolically, each form in the palgwae series corresponds to one trigram. Subsequent to 1971, the palgwae forms were deprecated in favor of eight taegeuk forms. The term taegeuk refers to the principle of the "unity of opposites". Though the movements in the taegeuk forms are different from those of the palgwae forms, each taegeuk form is likewise associated with a corresponding I Ching trigram.

Kukkiwon-style taekwondo uses a series of nine forms for dan-level black belts; this series is called the yudanja series. The first form in the series, Koryo, was replaced by a new form of the same name in 1971, as part of the transition from the palgwae to taegeuk forms.