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Saint Pauls' origins are closely tied to the development of northern Robeson County and the surrounding agricultural region. Prior to European settlement, Indigenous peoples, including ancestors of the Lumbee Tribe, inhabited the area, utilizing rivers, wetlands, and forests for food, shelter, and trade. Robeson County was formed in 1787 from Bladen County, and the area that would become Saint Pauls remained rural and sparsely populated, with early settlers relying on small-scale farming and subsistence agriculture.

The town developed significantly in the late 19th and early 20th centuries, largely due to the construction of the railroad. Originally part of a small rural settlement, the town was named Saint Pauls after a local church, reflecting the importance of religious institutions in early community life. Agriculture, especially tobacco, cotton, and corn, formed the backbone of the local economy. Timber and turpentine harvesting also contributed, taking advantage of the area's abundant pine forests. Small businesses, general stores, and service providers emerged around the railroad station, establishing the town's commercial center.

Infrastructure improvements reinforced Saint Pauls' growth over time. The railroad provided early regional connectivity, while roadways linking the town to Lumberton, Red Springs, and Rowland facilitated trade, travel, and commuting. As automobiles became prevalent in the 20th century, highway development expanded access, making Saint Pauls a convenient residential community for workers in nearby towns. Public utilities, including electricity, water, and communications, were gradually introduced, modernizing homes and supporting residential growth.

Community life in Saint Pauls has long been defined by its cultural diversity and strong local institutions. The town reflects the demographic composition of Robeson County, with Lumbee, African American, and European American populations contributing to its social and cultural fabric. Churches, schools, and civic organizations serve as central hubs for social activity and community engagement. Local festivals, school events, and civic programs have historically fostered intergenerational connections and a sense of belonging among residents.

Today, Saint Pauls offers a modern small-town environment that balances residential appeal with regional accessibility. The town features established neighborhoods, schools, parks, and local businesses that serve the community, while proximity to Lumberton provides employment, healthcare, and retail opportunities. Residents benefit from the area's affordability, open spaces, and community-oriented lifestyle. Saint Pauls continues to attract homeowners seeking a stable, welcoming environment with strong historical roots and practical amenities within Robeson County.