The first museum in Iowa to honor the pioneer farmer, Nelson Pioneer Farm & Museum is operated by the Mahaska County Historical Society, Inc., a non-profit, educational institution. The compound now features historic buildings from all over Mahaska County, providing visitors a glimpse of what life was like for Iowans in 19th century America.

Founded in 1844, the Nelson homestead is one of the premier historic attractions in Mahaska County. The Nelson home, built in 1853, and the Nelson barn, built in 1856, are the focal point of the museum and are designated National Historic Sites by the U.S. Department of Interior.

Nelson Pioneer Farm Museum has several buildings on the grounds that can be toured inside and out. Most of these are handicap accessible. Many of these buildings have been moved from their original location to the farm for historic preservation. Both the Daniel Nelson home and barn sit in their original locations. The main museum houses several exhibits, including a quilt display, Indian artifacts, a miniature wooden circus and military memorabilia.