Jean-Jacques Rousseau is the historical figure closely associated with the concept of social contract theory. His work, particularly in "The Social Contract," emphasizes the idea that individuals consent to form a government that protects their rights in exchange for some personal freedom. This theory has influenced modern political philosophy and the development of democratic governments, advocating for the notion that legitimate political authority comes from the consent of the governed. Rousseau's ideas highlight the balance between individual freedom and the collective good, making him a pivotal figure in the history of political thought.