Affordable Care Act, the Supreme Court, and the Constitution: Harvard law professor Einer Elhauge shows how the Founding Fathers supported mandates. - Slate Magazine

"In 1790, a Congress including 20 Founders passed a law requiring that ship owners buy medical insurance for their seamen. Washington signed it into law.
In 1792, another law signed by Washington required that all able-bodied men buy a firearm. (So much for the argument that Congress can’t force us to participate in commerce.)
And in 1798, a Congress with five framers passed a law requiring that all seamen buy hospital insurance for themselves. Adams signed this legislation."

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