Septoclasts are mononuclear spindle-shaped phagocytes with their long processes in uncalcified cartilage matrices and locate adjacent to the capillary endothelium at the chondro-osseous junction of the growth plate. We have previously revealed a selective expression of epidermal-type fatty acid-binding protein (E-FABP/FABP5) in septoclasts. Although, pericytes are known to distribute along capillaries and directly surround their endothelial cells in a situation similar to septoclasts, no clear evidence is available on the relationship between septoclasts and pericytes. We investigated the chronological localization and morphological change of septoclasts during development of the tibia of mice to clarify the development of septoclasts and the immune-localization of pericyte markers in septoclasts to clarify the origin of septoclasts. E-FABP-immunoreactive septoclasts emerged at the perichondrium in the middle of the cartilaginous templates of the tibia in prenatal development. Septoclasts migrated to the surface of the cartilage adjacent to invading blood vessels. Processes of septoclasts became longer and their apexes attached to Von Kossa-negative uncalcified matrices during the formation process of the primary ossification center. Not only platelet-derived growth factor receptor beta, but also neuron-glial antigen 2 was localized in septoclasts of mice from E15 (embryonic day 15) to P6w (postnatal 6 week). Our results suggest that septoclasts are originated from pericytes and involved in the blood vessel invasion during formation of the primary ossification center.