Born in 1529 as the son of Yagyu Iegane, lord of Yagyu domain in Yamato Province (present-day Yagyu-cho, Nara City, Nara Prefecture). He studied martial arts from childhood, first mastering Shinto-ryu (a Kashima-lineage sword art). He then studied under Toda Ittosai and Kandori Shinjuro, researching multiple schools. The turning point came when he met the Sword Saint Kamiizumi Nobutsuna. Around 1563, when Nobutsuna visited Yamato, Muneyoshi confidently stepped forward to spar — only to suffer a complete defeat before Nobutsuna's Shinkage-ryu. Shaken by this loss, Muneyoshi immediately asked to become Nobutsuna's student and devoted himself to learning the Shinkage-ryu's deepest secrets. After several years of training, he received Nobutsuna's "ikkoku ichinin no inka" (certificate as the sole inheritor in the land) and was recognized as the orthodox successor of the Shinkage-ryu. On this foundation, Muneyoshi established the Yagyu Shinkage-ryu and made Yagyu in Yamato a sacred ground of swordsmanship. In 1594, Tokugawa Ieyasu, having heard of Muneyoshi's fame, visited Yagyu and requested a demonstration. Though 67 years old, Muneyoshi performed "muto-dori" — the art of seizing an opponent's sword barehanded — and astounded Ieyasu. Ieyasu offered him a position, but Muneyoshi declined due to his age and instead recommended his fifth son, Yagyu Munenori. Munenori went on to become the shogunate's official sword instructor, forging a deep bond between the Yagyu clan and the Tokugawa government. In retirement, Muneyoshi took the name "Sekishusai" (Stone Boat Studio) — the "stone boat" symbolizing an immovable, unshakable state of being, reflecting the enlightenment of an old master who had perfected the way of the sword. He died in 1606 at age 78. The Yagyu Shinkage-ryu was passed from Munenori to his grandson Yagyu Jubei (Mitsuyoshi), and remained one of the most authoritative sword schools throughout the Edo period.