The outskirts of Bešeňová were already settled in Neolithic and Bronze Age. The mass findings of bronze objects as well as the ash pits of Lusation culture can serve as an evidence.

Municipality itself was established in the 13th century on the territory of Marcelś estate who had been given it by King Belo IV (1235-1270). In 1279 King Ladislav IV confirmed it by his deed. Another property was given to Marcel by the same king and was situated between the river Vah and the Potok brook. The new settlement was established here and was named after its owner Marcelová.

Around 1347 local zhupan (district administrator ) Gregor was put into position of the Pečenehs´ count. Those were the guards of the Hungarian borders. Due to his position, Gregor received the Latin nickname Bissenus which means Bešeň in Slovak language. His descendants inherited this surname – the Bešeňs from Marcelová. Two names have been used for this village – Marcelová and Bešeňová – since the 15th century.

In the 16th century small landlords the Mitoška family lived in Bešeňová therefore the name Mitošiny was used later.

In the past villagers worked in agriculture, in the still houses, later in the quarries. They also earned their living by masonry and wooden rafting.