The Grayson County Regional Mobility Authority (GCRMA) was created in April 2004 for Grayson County. The initial project was SH-239 extension from SH-56 to FM-120.

GCRMA was the third Regional Mobility Authority authorized by the Texas Transportation Commission. The first RMA authorized was the Central Texas Regional Mobility Authority.

In February 2004 Grayson County filed a petition for authorization to form a Regional Mobility Authority. The petition identified State Highway 289 as their initial project for development. This project would extend 289 from the area of State Highway 56 in Sherman and end at FM 120 in Pottsboro.

TxDOT held a public hearing on April 6, 2004, to receive public comments on the formation of this proposed RMA. All comments received at the public hearing was in support of the creation of an RMA. No additional comments were received n the subsequent 10-day comment period. TxDOT did, however, receive a resolution from Grayson County Commissioner's Court in support of the Regional Mobility Authority.

The initial board was composed of two members appointed by the Grayson County Commissioners Court and a chair appointed by the Governor.