Final answer:
Minuet-and-trio form did not originate from Baroque court dance, it is a musical form commonly used in the Classical period.
Step-by-step explanation:
No, the statement is false. Minuet-and-trio form did not originate from Baroque court dance. Minuet-and-trio form is a musical form that was commonly used in the Classical period, particularly in symphonies and chamber music. It consists of two contrasting sections - the minuet and the trio. The minuet section is typically in ternary form (ABA) and the trio section provides a contrast by often being in a different key.