Madison incorporated as a city in 1856, but only incorporated part of the settled area into the city. The remaining area was known as the town of Madison, in contrast to the city of Madison.
Over the years, the city gradually annexed areas from the town of Madison. In 2002, preparations were made to eventually incorporate all of the town of Madison into the city of Madison. This merging is scheduled to take place no later than October 30, 2022.