I've been using Vim for many years and have never really thought about it. A friend of mine asked why that is, noting that in our culture, left would usually map to up while right would map to down, making the Vim keys backwards.
I understand that they are on the home row, meaning that you do not have to move your fingers anywhere to hit them, but that's a different point altogether.
Why were these keys given their present purposes? Is there some documentation on the decision as well?
The answer is in the Wikipedia entry for vi. Bill Joy, who wrote the visual mode of ex - which ended up being Vim's precursor vi - used a Lear Siegler ADM-3A terminal on which the HJKL keys mapped to left, down, up, right - and it’s been that way ever since.
Here's the keyboard layout:
A couple of other points of note on the ADM-3A layout: