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While serving in the U.S. Navy, Urban studied under Professor Richard Kim, who later introduced him to Gogen Yamaguchi and  Mas Oyama. After studying under Grandmaster Gogen Yamaguchi for numerous years, Urban returned to America and opened his first American dojo in 1959. Urban returned to Japan in the 70's to ask Yamaguchi permission to become an independent organization; and was denied.  Upon his arrival back to the U.S., Urban incorporated the teachings of his teachers into one system; Urban Goju/ USA Goju, and to show his independence to the martial arts world, he instructed his students to wear black uniforms. (White being the norm at the time.)

 Since the introduction of United States of America Goju, by Peter Urban, Goju has blossomed into one of the most prestigious martial arts styles today. USA Goju deals with reality techniques, as well as, maintaining the traditional disciplines of Miyagi's times. Peter G. Urban is the Father of American Goju Karate.