Zelem was mentioned for the first time in the 12th century as a property of
Echternach Abbey. In the first half of the 14th century, Zelem belonged to the Counts of Kranenburg but was sold in 1348 to the lords of Groesbeek. In the 15th century, the Palant-Wylich family became the owners of the estate, in whose hands it remained for centuries. The castle remains privately owned and can therefore only be viewed from the outside. == Architectural history ==