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I've noticed that a lot of science fiction takes place either in the future or in the present, which is understandable. However, I was wondering if anyone knew about science fiction that takes place sometime in the past (preferably books that were written relatively recently). Steampunk tends to do this; are there any other genres or movements in this style, or even individual books?

It would be a fascinating genre to write in for sure. You effectively get this with HG Wells novels

The book I'm currently reading, is set throughout time. Starts in present time, travels back in time and forward as well. Although when travels very far back in time, actually more advanced civilization. It's intriguing, relatively easy to follow, but at times a bit slow, the good bits keep me reading though. It's the ancient future series

The Outlander series by Diana Gabaldon does this somewhat. It is about time travel back in time. It is more historical fiction than science fiction but it does deal a good bit with the logistics of time travel.

Julian May's Galactic Milieu series explores the past to a degree. And is an overall entertaining read.

There's a great classic book that fits the bill: Mark Twain's A Connecticut Yankee in King Arthur’s Court.

Probably one of my favorite types of book is when they incorporate historical elements to the story. It adds another layer to the story and makes it that much more interesting, adding onto current knowledge you already know and shaping it into something entertaining and fun to read.

Was going to say that steampunk seems to fit the bill best.

Historical fantasy is quite popular, but sci-fi is much harder to come by. I recently finished "The Killing Moon" by N K Jemesin. It's a fantasy/sci-fi (it takes place on another planet), but the society is based off of Egypt. The magic and lifestyles are more Ancient Egypt, while the politics and race relations are more reminiscent of the age of imperialism.

So it's not "historical", technically, because it's another planet, but the world is based on a place that existed in history. Not sure if that counts!

There is a genre called alternate history. These are like "what if" stories. Like what if the French hadn't sided with America in the Revolutionary War. Some of these stories bleed into the science fiction genre. Eric Flint, along with a number of guest authors, pens the 1632 series. In this story, an entire town in West Virginia is transported into Germany in the middle of the Thirty Years' war. It is fascinating to read how things play out. This series has also inspired the best fan fiction I have ever read. There are plenty of over lap in these two genres.

Personally, I enjoy historical fiction but can be quite critical of it. I haven’t read a crossover with sci-fi before, unless you include time travel stories (debatable genres). I would be interested in trying a book like this out if I was recommended an outstanding story.

The Company series by Kage Baker is set in different eras and include several historical events and characters.