The Society of Jesus (the Jesuits) founded the church in 1869 to serve the growing Roman Catholic population, many of whom were Irish immigrants lacking a dedicated place of worship in south-west London. The church soon became central to parish life within the Archdiocese of Southwark. The original chapel at Manresa House was a modest iron structure, which was later replaced by the current Gothic Revival building. Construction of this building was supported generously by Henry James and Anna Gertrude Garcia, and it was completed between 1878 and 1881. St Joseph's was designed in the Victorian style and features notable features such as Hardman stained glass, a distinctive scissor-beam nave, and architectural details attributed to Walters. The building has evolved from humble beginnings into a landmark of religious and civic significance. Over time, the parish expanded to meet the needs of a growing post-war population, emerging as both a vibrant centre of worship and a hub for community engagement.