“Perhaps a more practical origin of the handshake comes from medieval Europe, where kings and knights would extend their hands to each other, and [grasp the] others hand as a demonstration that each did not possess concealed weapons and intended no harm to the other. This is a more practical origin of the handshake, because it more closely resembles our current use of the handshake as a way to introduce ourselves to a person and open ourselves up to them for the purpose of interacting. Interestingly enough, the ancient Greeks used it similarly. It was a welcoming sign of friendliness, hospitality, and trust.â€
By Kevin Andrew - http://soc302.tripod.com/soc_302rocks/id8.html