diff --git a/client/mysqldump.c b/client/mysqldump.c
index 1d23eebd642..05d13859026 100644
--- a/client/mysqldump.c
+++ b/client/mysqldump.c
@@ -130,7 +130,7 @@ static my_bool  verbose= 0, opt_no_create_info= 0, opt_no_data= 0, opt_no_data_m
                 opt_events= 0, opt_comments_used= 0,
                 opt_alltspcs=0, opt_notspcs= 0, opt_logging,
                 opt_header=0,
-                opt_drop_trigger= 0;
+                opt_drop_trigger= 0, opt_dump_history= 0;
 #define OPT_SYSTEM_ALL 1
 #define OPT_SYSTEM_USERS 2
 #define OPT_SYSTEM_PLUGINS 4
@@ -353,6 +353,8 @@ static struct my_option my_long_options[] =
    "'/*!40000 ALTER TABLE tb_name DISABLE KEYS */; and '/*!40000 ALTER "
    "TABLE tb_name ENABLE KEYS */; will be put in the output.", &opt_disable_keys,
    &opt_disable_keys, 0, GET_BOOL, NO_ARG, 1, 0, 0, 0, 0, 0},
+  {"dump-history", 'H', "Dump tables with history", &opt_dump_history,
+    &opt_dump_history, 0, GET_BOOL, NO_ARG, 0, 0, 0, 0, 0, 0},
   {"dump-slave", OPT_MYSQLDUMP_SLAVE_DATA,
    "This causes the binary log position and filename of the master to be "
    "appended to the dumped data output. Setting the value to 1, will print"
@@ -1355,6 +1357,24 @@ static int get_options(int *argc, char ***argv)
     fprintf(stderr, "%s: --xml can't be used with --tab.\n", my_progname_short);
     return(EX_USAGE);
   }
+  if (opt_xml && opt_dump_history)
+  {
+    fprintf(stderr, "%s: --xml can't be used with --dump-history.\n",
+            my_progname_short);
+    return(EX_USAGE);
+  }
+  if (opt_replace_into && opt_dump_history)
+  {
+    fprintf(stderr, "%s: --dump-history can't be used with --replace.\n",
+            my_progname_short);
+    return(EX_USAGE);
+  }
+  if (opt_asof_timestamp && opt_dump_history)
+  {
+    fprintf(stderr, "%s: --dump-history can't be used with --as-of.\n",
+            my_progname_short);
+    return(EX_USAGE);
+  }
   if (opt_asof_timestamp && strchr(opt_asof_timestamp, '\''))
   {
     fprintf(stderr, "%s: Incorrect DATETIME value: '%s'\n",
@@ -3148,7 +3168,7 @@ static uint get_table_structure(const char *table, const char *db, char *table_t
 
   if (versioned)
   {
-    if (!opt_asof_timestamp)
+    if (!opt_asof_timestamp && !opt_dump_history)
       versioned= NULL;
     else
     {
@@ -3180,6 +3200,7 @@ static uint get_table_structure(const char *table, const char *db, char *table_t
 
   if (!opt_xml && !mysql_query_with_error_report(mysql, 0, query_buff))
   {
+    int vers_hidden= opt_dump_history && versioned && *versioned;
     /* using SHOW CREATE statement */
     if (!opt_no_create_info)
     {
@@ -3377,8 +3398,10 @@ static uint get_table_structure(const char *table, const char *db, char *table_t
         dynstr_free(&create_table_str);
       mysql_free_result(result);
     }
-    my_snprintf(query_buff, sizeof(query_buff), "show fields from %s",
-                result_table);
+    my_snprintf(query_buff, sizeof(query_buff),
+                "select column_name, extra, generation_expression "
+                "from information_schema.columns where table_schema=database() "
+                "and table_name=%s", quote_for_equal(table, temp_buff));
     if (mysql_query_with_error_report(mysql, &result, query_buff))
     {
       if (path)
@@ -3388,8 +3411,10 @@ static uint get_table_structure(const char *table, const char *db, char *table_t
 
     while ((row= mysql_fetch_row(result)))
     {
-      if (strlen(row[SHOW_EXTRA]) && strstr(row[SHOW_EXTRA],"INVISIBLE"))
+      if (strstr(row[1],"INVISIBLE"))
         complete_insert= 1;
+      if (vers_hidden && row[2])
+        vers_hidden= strcmp(row[2], "ROW START");
       if (init)
       {
         dynstr_append_checked(&select_field_names, ", ");
@@ -3398,11 +3423,18 @@ static uint get_table_structure(const char *table, const char *db, char *table_t
       }
       init=1;
       dynstr_append_checked(&select_field_names,
-              quote_name(row[SHOW_FIELDNAME], name_buff, 0));
+                            quote_name(row[0], name_buff, 0));
       if (opt_header)
         dynstr_append_checked(&select_field_names_for_header,
-                              quote_for_equal(row[SHOW_FIELDNAME], name_buff));
+                              quote_for_equal(row[0], name_buff));
     }
+
+    if (vers_hidden)
+    {
+      complete_insert= 1;
+      dynstr_append_checked(&select_field_names, ", row_start, row_end");
+    }
+
     /*
       If write_data is true, then we build up insert statements for
       the table's data. Note: in subsequent lines of code, this test
@@ -3433,7 +3465,7 @@ static uint get_table_structure(const char *table, const char *db, char *table_t
 
     if (complete_insert)
       dynstr_append_checked(&insert_pat, select_field_names.str);
-    num_fields= mysql_num_rows(result);
+    num_fields= mysql_num_rows(result) + (vers_hidden ? 2 : 0);
     mysql_free_result(result);
   }
   else
@@ -4033,10 +4065,15 @@ static char *alloc_query_str(size_t size)
 
 static void vers_append_system_time(DYNAMIC_STRING* query_string)
 {
-  DBUG_ASSERT(opt_asof_timestamp);
-  dynstr_append_checked(query_string, " FOR SYSTEM_TIME AS OF TIMESTAMP '");
-  dynstr_append_checked(query_string, opt_asof_timestamp);
-  dynstr_append_checked(query_string, "'");
+  if (opt_dump_history)
+    dynstr_append_checked(query_string, " FOR SYSTEM_TIME ALL");
+  else
+  {
+    DBUG_ASSERT(opt_asof_timestamp);
+    dynstr_append_checked(query_string, " FOR SYSTEM_TIME AS OF TIMESTAMP '");
+    dynstr_append_checked(query_string, opt_asof_timestamp);
+    dynstr_append_checked(query_string, "'");
+  }
 }
 
 
@@ -4282,6 +4319,11 @@ static void dump_table(const char *table, const char *db, const uchar *hash_key,
       goto err;
     }
 
+    if (versioned && !opt_xml && opt_dump_history)
+    {
+      fprintf(md_result_file,"/*!101100 SET system_versioning_insert_history=1 */;\n");
+      check_io(md_result_file);
+    }
     if (opt_lock)
     {
       fprintf(md_result_file,"LOCK TABLES %s WRITE;\n", opt_quoted_table);
@@ -4579,6 +4621,11 @@ static void dump_table(const char *table, const char *db, const uchar *hash_key,
       fprintf(md_result_file, "commit;\n");
       check_io(md_result_file);
     }
+    if (versioned && !opt_xml && opt_dump_history)
+    {
+      fprintf(md_result_file,"/*!101100 SET system_versioning_insert_history=1 */;\n");
+      check_io(md_result_file);
+    }
     mysql_free_result(res);
   }
   dynstr_free(&query_string);
diff --git a/mysql-test/suite/versioning/r/data.result b/mysql-test/suite/versioning/r/data.result
index 88ba4156afe..320bd88a424 100644
--- a/mysql-test/suite/versioning/r/data.result
+++ b/mysql-test/suite/versioning/r/data.result
@@ -57,3 +57,129 @@ INSERT INTO `t1` VALUES
 #MYSQL_DUMP --compact --as-of="1990-08-04 00:00' where 'abc" test 2>&1
 mysqldump: Incorrect DATETIME value: '1990-08-04 00:00' where 'abc'
 drop tables t1;
+#
+# MDEV-16029 mysqldump: dump and restore historical data
+#
+create or replace table t1 (x int) with system versioning;
+set timestamp=unix_timestamp('2010-10-10 10:10:10.101010');
+insert into t1 values (1), (2);
+set timestamp=unix_timestamp('2011-11-11 11:11:11.111111');
+delete from t1 where x = 1;
+set timestamp=default;
+select row_start, row_end into @s1, @e1 from t1 for system_time all where x = 1;
+select row_start, row_end into @s2, @e2 from t1 for system_time all where x = 2;
+create or replace table t2 (
+x int,
+row_start timestamp(6) as row start invisible,
+row_end timestamp(6)  as row end invisible,
+period for system_time (row_start, row_end))
+with system versioning;
+create or replace function check_fields(x int, row_start timestamp(6), row_end timestamp(6))
+returns char(50) deterministic
+return if (x = 1,
+if (row_start = @s1 and row_end = @e1, '[CORRECT]', '[WRONG]'),
+if (x = 2 and row_start = @s2 and row_end = @e2, '[CORRECT]', '[WRONG]'));
+set @@system_versioning_insert_history= 1;
+insert into t2 (x, row_start, row_end) select x, row_start, row_end from t1 for system_time all;
+set @@system_versioning_insert_history= 0;
+# t2 has the same data as t1
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+/*!40101 SET @saved_cs_client     = @@character_set_client */;
+/*!40101 SET character_set_client = utf8 */;
+CREATE TABLE `t1` (
+  `x` int(11) DEFAULT NULL
+) ENGINE=MyISAM DEFAULT CHARSET=latin1 COLLATE=latin1_swedish_ci WITH SYSTEM VERSIONING;
+/*!40101 SET character_set_client = @saved_cs_client */;
+/*!101100 SET system_versioning_insert_history=1 */;
+INSERT INTO `t1` (`x`, row_start, row_end) VALUES (1,'2010-10-10 10:10:10.101010','2011-11-11 11:11:11.111111'),
+(2,'2010-10-10 10:10:10.101010','2038-01-19 03:14:07.999999');
+/*!101100 SET system_versioning_insert_history=1 */;
+/*!40101 SET @saved_cs_client     = @@character_set_client */;
+/*!40101 SET character_set_client = utf8 */;
+CREATE TABLE `t2` (
+  `x` int(11) DEFAULT NULL,
+  `row_start` timestamp(6) GENERATED ALWAYS AS ROW START INVISIBLE,
+  `row_end` timestamp(6) GENERATED ALWAYS AS ROW END INVISIBLE,
+  PERIOD FOR SYSTEM_TIME (`row_start`, `row_end`)
+) ENGINE=MyISAM DEFAULT CHARSET=latin1 COLLATE=latin1_swedish_ci WITH SYSTEM VERSIONING;
+/*!40101 SET character_set_client = @saved_cs_client */;
+/*!101100 SET system_versioning_insert_history=1 */;
+INSERT INTO `t2` (`x`, `row_start`, `row_end`) VALUES (1,'2010-10-10 10:10:10.101010','2011-11-11 11:11:11.111111'),
+(2,'2010-10-10 10:10:10.101010','2038-01-19 03:14:07.999999');
+/*!101100 SET system_versioning_insert_history=1 */;
+mysqldump: --dump-history can't be used with --as-of.
+mysqldump: --dump-history can't be used with --replace.
+mysqldump: --xml can't be used with --dump-history.
+# SQL dump with/without history
+## With history
+drop tables t1, t2;
+select x, check_fields(x, row_start, row_end) from t1 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+## Without history
+drop tables t1, t2;
+select x, check_row_ts(row_start, row_end) from t1 for system_time all order by x;
+x	check_row_ts(row_start, row_end)
+2	CURRENT ROW
+select x, check_row_ts(row_start, row_end) from t2 for system_time all order by x;
+x	check_row_ts(row_start, row_end)
+2	CURRENT ROW
+## History and --no-create-info --skip-comments
+create or replace table t1 (x int) with system versioning;
+delete from t2;
+delete history from t2;
+select x, check_fields(x, row_start, row_end) from t1 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+## compact
+select x, check_fields(x, row_start, row_end) from t1 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+x	check_fields(x, row_start, row_end)
+1	[CORRECT]
+2	[CORRECT]
+create or replace table t1 (x int) with system versioning;
+# --tab with history
+drop tables t1, t2;
+show create table t1;
+Table	Create Table
+t1	CREATE TABLE `t1` (
+  `x` int(11) DEFAULT NULL
+) ENGINE=MyISAM DEFAULT CHARSET=latin1 COLLATE=latin1_swedish_ci WITH SYSTEM VERSIONING
+show create table t2;
+Table	Create Table
+t2	CREATE TABLE `t2` (
+  `x` int(11) DEFAULT NULL,
+  `row_start` timestamp(6) GENERATED ALWAYS AS ROW START INVISIBLE,
+  `row_end` timestamp(6) GENERATED ALWAYS AS ROW END INVISIBLE,
+  PERIOD FOR SYSTEM_TIME (`row_start`, `row_end`)
+) ENGINE=MyISAM DEFAULT CHARSET=latin1 COLLATE=latin1_swedish_ci WITH SYSTEM VERSIONING
+set @@system_versioning_insert_history= 1;
+load data infile 'tmp/t1.txt' into table t1 (x, row_start, row_end);
+load data infile 'tmp/t2.txt' into table t2 (x, row_start, row_end);
+set @@system_versioning_insert_history= 0;
+select *, check_row_ts(row_start, row_end) from t1 for system_time all;
+x	check_row_ts(row_start, row_end)
+1	HISTORICAL ROW
+2	CURRENT ROW
+select *, check_row_ts(row_start, row_end) from t2 for system_time all;
+x	check_row_ts(row_start, row_end)
+1	HISTORICAL ROW
+2	CURRENT ROW
+drop tables t1, t2;
+drop function check_fields;
diff --git a/mysql-test/suite/versioning/t/data.test b/mysql-test/suite/versioning/t/data.test
index 4046ec609dd..155130d6cd6 100644
--- a/mysql-test/suite/versioning/t/data.test
+++ b/mysql-test/suite/versioning/t/data.test
@@ -29,4 +29,122 @@ set timestamp=default;
 
 drop tables t1;
 
+--echo #
+--echo # MDEV-16029 mysqldump: dump and restore historical data
+--echo #
+create or replace table t1 (x int) with system versioning;
+set timestamp=unix_timestamp('2010-10-10 10:10:10.101010');
+insert into t1 values (1), (2);
+set timestamp=unix_timestamp('2011-11-11 11:11:11.111111');
+delete from t1 where x = 1;
+set timestamp=default;
+select row_start, row_end into @s1, @e1 from t1 for system_time all where x = 1;
+select row_start, row_end into @s2, @e2 from t1 for system_time all where x = 2;
+
+create or replace table t2 (
+  x int,
+  row_start timestamp(6) as row start invisible,
+  row_end timestamp(6)  as row end invisible,
+  period for system_time (row_start, row_end))
+with system versioning;
+
+eval
+create or replace function check_fields(x int, row_start timestamp(6), row_end timestamp(6))
+    returns char(50) deterministic
+    return if (x = 1,
+              if (row_start = @s1 and row_end = @e1, '[CORRECT]', '[WRONG]'),
+              if (x = 2 and row_start = @s2 and row_end = @e2, '[CORRECT]', '[WRONG]'));
+
+set @@system_versioning_insert_history= 1;
+insert into t2 (x, row_start, row_end) select x, row_start, row_end from t1 for system_time all;
+set @@system_versioning_insert_history= 0;
+--echo # t2 has the same data as t1
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+
+--let TMP= $MYSQLTEST_VARDIR/tmp
+
+--exec $MYSQL_DUMP --dump-history --databases test > $TMP/dump_history.sql
+--exec $MYSQL_DUMP --databases test > $TMP/dump_no_history.sql
+--exec $MYSQL_DUMP --dump-history --no-create-info --skip-comments --databases test > $TMP/dump_only_data.sql
+--exec $MYSQL_DUMP --dump-history --compact test 2>&1 > $TMP/dump_history_compact.sql
+--cat_file $TMP/dump_history_compact.sql
+--replace_result mysqldump.exe mysqldump
+--error 1
+--exec $MYSQL_DUMP --dump-history --as-of="1990-01-02 00:00" test 2>&1
+--replace_result mysqldump.exe mysqldump
+--error 1
+--exec $MYSQL_DUMP --dump-history --replace test 2>&1
+--replace_result mysqldump.exe mysqldump
+--error 1
+--exec $MYSQL_DUMP --dump-history --xml test 2>&1
+
+--exec $MYSQL_DUMP --dump-history --tab=$TMP test
+
+--echo # SQL dump with/without history
+--echo ## With history
+drop tables t1, t2;
+--exec $MYSQL test < $TMP/dump_history.sql
+select x, check_fields(x, row_start, row_end) from t1 for system_time all order by x;
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+--echo ## Without history
+drop tables t1, t2;
+--exec $MYSQL test < $TMP/dump_no_history.sql
+select x, check_row_ts(row_start, row_end) from t1 for system_time all order by x;
+select x, check_row_ts(row_start, row_end) from t2 for system_time all order by x;
+
+--echo ## History and --no-create-info --skip-comments
+create or replace table t1 (x int) with system versioning;
+delete from t2; delete history from t2;
+--exec $MYSQL test < $TMP/dump_only_data.sql
+select x, check_fields(x, row_start, row_end) from t1 for system_time all order by x;
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+
+--echo ## compact
+--exec $MYSQL test < $TMP/dump_history.sql
+select x, check_fields(x, row_start, row_end) from t1 for system_time all order by x;
+select x, check_fields(x, row_start, row_end) from t2 for system_time all order by x;
+
+create or replace table t1 (x int) with system versioning;
+
+# TODO: MDEV-16766 mysqldump: dump history in XML
+if (0)
+{
+--echo # XML with history
+drop table t1;
+create or replace table t1 (x int) with system versioning;
+delete from t2;
+delete history from t2;
+set @@system_versioning_insert_history= 1;
+--replace_result $TMP TMP
+eval load xml infile '$TMP/dump_history.xml' into table t1;
+--exec cp $TMP/dump_history.xml /tmp
+set @@system_versioning_insert_history= 0;
+--echo ## History is now loaded as current data (TODO)
+select *, check_row_ts(row_start, row_end) from t1 for system_time all;
+# TODO: check mysqlimport
+# --exec $MYSQL_IMPORT test $TMP/dump_history.xml
+}
+
+--echo # --tab with history
+drop tables t1, t2;
+--exec $MYSQL test < $TMP/t1.sql
+--exec $MYSQL test < $TMP/t2.sql
+show create table t1;
+show create table t2;
+set @@system_versioning_insert_history= 1;
+--replace_result $TMP tmp
+eval load data infile '$TMP/t1.txt' into table t1 (x, row_start, row_end);
+--replace_result $TMP tmp
+eval load data infile '$TMP/t2.txt' into table t2 (x, row_start, row_end);
+set @@system_versioning_insert_history= 0;
+select *, check_row_ts(row_start, row_end) from t1 for system_time all;
+select *, check_row_ts(row_start, row_end) from t2 for system_time all;
+
+# Cleanup
+--remove_files_wildcard $TMP *.sql
+--remove_files_wildcard $TMP *.txt
+--remove_files_wildcard $TMP *.xml
+drop tables t1, t2;
+drop function check_fields;
+
 --source suite/versioning/common_finish.inc