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The borough is surrounded by Mansfield Township. As of the 2010 census, the borough had a population of 2,937 people. Mansfield was settled in 1793 and incorporated as a borough on March 22, 1874 from part of Mansfield Township. The community was named for General Joseph Warren (1741–1775), who fell at Bunker Hill during the American Revolution. In 1892 it became home to one of America's first automobile dealerships when Frank Duryea opened his factory outlet here. It is also home to an annual hot air balloon festival that draws thousands each year since its inception in 1995.