Dildos in one form or another have been present in society throughout history. Artifacts from the Upper Paleolithic which have previously been described as batons were most likely used for sexual purposes. There appears to have been hesitation on the part of archaeologists to label these items as sex toys: as archaeologist Timothy Taylor put it, "Looking at the size, shape, and—some cases—explicit symbolism of the ice age batons, it seems disingenuous to avoid the most obvious and straightforward interpretation. But it has been avoided." The world's oldest known dildo is a siltstone 20-centimeter phallus from the Upper Palaeolithic period 30,000 years ago that was found in Hohle Fels Cave near Ulm, Germany. The first dildos were made of stone, tar, wood and other materials that could be shaped as penises and that were firm enough to be used as penetrative sex toys. Dildo-like breadsticks, known as olisbokollikes (sing. olisbokollix) were known in Ancient Greece prior to the 5th century BC. Chinese women in the 15th century used dildos made of lacquered wood with textured surfaces. Nashe's early-1590's work The Choice of Valentines mentions a dildo made from glass.
The Ancient Greeks were never shy about depicting sex practices right on their vases, although this is the most explicit one I've seen yet.
The Greeks did get a little freaky though sometimes. Greek freaks.