"Kali" also refered to as "Escrima"  most probably originates from the Spanish word "esgrima" which is the term for fencing refering to a class of Filipino Martial Arts that emphasize stick and sword fighting.  The teaching of the basic skills in FMA are traditionally simplified. With limited time to teach flashy and intricate techniques, only skills that were proven effective in battle and could easily be taught en masse were used. This philosophy of simplicity is still used today and is the underlying base of Kali. Because of this approach, it is often mistakenly considered to be "simple" fighting arts. However, this refers only to its systematization, not effectiveness. To the contrary, beyond the basic skills lies a very complex structure and a refined skillset that takes years to master. Practitioners of these arts are noted for their ability to fight with weapons or empty hands interchangeably. Most Kali systems include fighting with a variety of weapons, striking with hands and feet (suntukan, sikaran, tadyakan/tadiyakan), grappling and throwing (dumog), biting and whatever skills needed to complete a warrior's training in the old days of tribal warfare.

Perhaps the only major fields that have not been given as much emphasis as in the past in modern Kali training today are skills needed for fighting effectively in groups and hilot - a Filipino system of first aid, healing, massage, and herbal medicine traditionally taught alongside Kali but that has now virtually disappeared. Skills with weapons and with empty hands (unarmed) are developed concurrently using training methods designed to emphasize their common elements. The most common variations used are single stick (solo bastón), double stick (double bastón) and sword/stick and dagger (espada y daga). Some systems are known to specialise in other weapons such as the whip and staff. It is historically recorded, though, that when the Spanish conquistadors arrived, some tribes fought them, using native weapons and techniques. Ferdinand Magellan was killed in the Battle of Mactan in 1521 by forces of the Mactan tribal chief Lapu-Lapu when Magellan landed in Cebu.

By the time the Spanish reached the Philippines, they were extremely challenged by how the natives had fought, when the natives of the Philippines only had simple weapons such as swords, spears and bow and arrows plus a shield to protect themselves. The experienced conquistadors were able to invade Maharlika (now Philippines). The degree to which this affected the practice of the native fighting arts is a matter of debate, but it seems likely that the Filipinos kept what worked and discarded what didn't. Kali had to be hidden from the Spaniards -- they practiced it in their dancing, and pretended they were practicing the Spanish style of fencing to avoid being caught. For this reason, Kali has some strong Spanish influences.