When Matt created the campaign that eventually became Critical Role, he made up his own world, Exandria, and restructured some of the game system rules to allow for more flexibility in the storyline. The game then became an ongoing Pathfinder campaign. At the time, Matthew kept telling Liam about the D&D game he was running and often invited Liam to join.
In 2012, Liam O'Brien asked Matthew Mercer to run a D&D one-shot for his birthday.