The new movie King Richard [1] offers a behind-the-scenes look at the origins of tennis legends Venus and Serena Williams, as well as the coach who helped them achieve their dreams — their father, Richard Williams. The Williams sisters [2] have been staples of the tennis scene for decades — it's almost hard to remember when they weren't dominating the courts! Back in the '90s, though, they were just a pair of up-and-coming teenage sensations who burst onto the scene and started climbing the ranks into tennis history.

To celebrate the movie's release [3] (and the Williams sisters' incredible, still-ongoing careers [4]), we're looking back at some of their earliest moments on the public stage. Take a look back at Venus and Serena's beginnings, as well as a few rare pictures of them with their out-of-the-spotlight father back in the day.

Serena Williams at the Nancy Reagan Tennis Tournament in 1990

Venus, Richard, and Serena Williams in Compton in 1991

Richard Williams Coaching Serena in 1991

Richard Williams Coaching Venus in 1991

Serena and Venus Williams Shaking Hands After a Match in 1991

Serena, Richard, and Venus Williams at a Florida Tennis Camp in 1992

Serena, Venus, and Richard Williams at a Florida Tennis Camp in 1992

Richard Williams in Florida in 1992

Richard Williams in Florida in 1992

Venus and Serena Williams in 1992

Venus Williams Competing at the Bank of the West Classic in 1994

Venus Williams Competing at the Bank of the West Classic in 1994

Venus Williams Competing at the US Open in 1997

Venus Williams Competing at the US Open in 1997

Venus Williams Competing at Wimbledon in 1997

Venus Williams Competing at the French Open in 1997

Serena Williams Competing at the US Open in 1998

Serena Williams Competing at the US Open in 1998

Serena Williams Competing at the French Open in 1998

Serena Williams Competing at the Australian Open in 1998

Venus Williams Competing at the Australian Open in 1998

Venus and Serena Williams at Practice in 1998

Venus and Serena Williams at the Australia Open in 1998

Richard Williams Congratulating Venus at the Lipton Championships in 1998

Venus Williams Competing at the Grand Slam Cup in 1998

Serena Williams Celebrating Victory at the Evert Cup With Richard and Venus in 1999

Serena Williams Competing at the Australian Open in 1999

Richard Williams at the Lipton Championships in 1999

Venus Williams Competing at the All England Lawn Tennis Championships in 1999

Serena Williams Competing at the Fed Cup in 1999

Venus Williams at the French Open in 1999

Serena Williams Competing at the Evert Cup in 1999

Venus Williams Competing at the US Open in 1999

Serena Williams Competing at the US Open in 1999

Serena Williams Celebrating a Win at the US Open in 1999

Serena Williams With Her Trophy at the US Open in 1999

Richard Williams Congratulating Serena at the Evert Cup in 1999

Venus and Serena Williams With Their Trophies at the Grand Slam Cup in 1999

Venus and Serena Williams at the US Open in 1999

Venus and Serena Williams With Their Doubles Trophy at the US Open in 1999