ACS began as the 'Dorcas and Benevolent Association,' composed of women providing clothes, food, financial support and services to needy families in churches and in their communities. This is why until the World War Era, the humanitarian work of local Seventh-day Adventist churches was known as 'Dorcas Society.' Ellen White, a Seventh-day Adventist Church pioneer in the city of Takoma was well regarded as a person who was always doing good and helping those in need (Acts 9:36-42).

The General Conference broadened the concept of service to urban ministry. This new organization was named Seventh-day Adventist Health and Welfare Services (SAWS).

The church organized the Adventist Development and Relief Agency (ADRA). International for service activities outside of North America more effectively. ADRA became the official international relief organization (NGO) that works at a global level connecting the Seventh-day Adventist Church to provide international relief and development.