Was the harpsichord from baroque period?

Yes, the harpsichord was a very popular keyboard instrument during the Baroque period, which spanned the 17th and early 18th centuries. It was commonly used in chamber music, orchestral works, and solo performances, and found its place in both secular and religious compositions. The golden era of the harpsichord coincided with the rise of Baroque music, and prominent composers of the time such as Johann Sebastian Bach, George Frideric Handel, and Domenico Scarlatti frequently featured the instrument in their masterpieces.