Muons have been accelerated by using a radio frequency accelerator for the first time. Negative muonium atoms (Mu$^-$), which are bound states of positive muons ($\mu^+$) and two electrons, are generated from $\mu^+$'s through the electron capture process in an aluminum degrader. The generated Mu$^-$'s are initially electrostatically accelerated and injected into a radio frequency quadrupole linac (RFQ). In the RFQ, the Mu$^-$'s are accelerated to 89~keV. The accelerated Mu$^-$'s are identified by momentum measurement and time of flight. This first muon acceleration is one of big milestones for realizing new muon g-2 experiment at J-PARC.