The Andhra Pradesh Auxiliary came into being in 1951, just a year after the state Andhra Pradesh was formed. Prior to that during the rule of Nizam a book depot of the Tamil Nadu(Madras) Auxiliary was in operation in Secunderabad since 1939. The existing Bible House had been in operation since 1939 also house the head quarters of the auxiliary since 1951. The Auxiliary celebrated the centenary of the complete Telugu Bible in the year 1960.

Through the length and breadth of the state 150 BSI branches operate with individual office bearers and members providing their voluntary services. Over the years the Auxiliary has proved to be one of the leading arms of the Bible Society Movement in India in distribution figures.
Under this auxiliary audio scripture portions and also the New Testament in Lambadi were produced.