The Cappuccino as we know it today, espresso and foamed milk, is a fairly modern invention, but it has roots going all the way back to the origins of coffee in Europe. The first record of the cappuccino was a beverage called kapuziner that was served in Viennese coffee houses in the 1700s. The name was a reference to it's colour, dark brown coffee with a little bit of milk, that was similar to the colour of robes worn by Capuchin monks.
Kapuziner was traditionally made with coffee milk and spices. This is more or less the precursor to Irish coffees which were topped with whipped cream and sweetened with sugar spices or alcohol.
In the 20th century, with the introduction of espresso machines, and the age of crema brought about from the high pressure systems, it was possible to also heat up the milk. This is how the modern cappuccino came to be, with the frothy micro bubbles in steamed milk. There was a time when Kapuziner and Cappuccino were distinct items on the menu.
Cappuccinos are still evolving today, think of the iced capp! There are even barista competitions where people compete to make the best cappuccino complete with latte art. The world of coffee is ever growing and ever changing.