The first rubber dildos have been traced back to around 1850 and they started appearing in movies during the 1930s and 1940s. At this point, many were called marital aids, rather than sexual aids.
Lester Haines Wed 27 Jul 2005 // 10:10 UTC. Copy. German scientists are tickled pink after unearthing one of the world's oldest sculpted phalluses - 20cm of polished siltstone lovingly created around 28,000 years ago. The stone schlong was discovered in Hohle Fels Cave near Ulm, Swabia, by a Tübingen University team.
Prehistoric double-headed dildos have been found which date anywhere from 13 to 19,000 years ago. Various paintings from ancient Egypt around 3000 BCE feature dildos being used in a variety of ways. In medieval times, a plant called the “cantonese groin” was soaked in hot water to enlarge and harden for women to use as dildos. 
The prehistoric "tool" was reassembled from 14 fragments of siltstone. Its life size suggests it may well have been used as a sex aid by its Ice Age makers, scientists report. "In addition to being...
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Pieces of antler carved in a T or Y shape with a hole in it, no one is quite sure what they were used for, but one theory was that they were prehistoric dildos.