After Zhang Ling (34–156 AD), the founder of Zhengyi Mengwei Dao, became an immortal, his son Zhang Heng and grandson Zhang Lu inherited his teachings.
During the reign of Emperor Xian of the Han Dynasty (190–220), Zhang Lu resided in Hanzhong for more than 20 years (191–215), vigorously spreading and developing Zhengyi Mengweidao and strengthening the organization of the cult.
Zhang Lu, who called himself “Master,” implemented some reforms in Zhengyi Mengwei Dao and established a number of new measures:
Organizationally, he set up the positions of “sacrificial wine” and “head sacrificial wine” to manage the “ghost soldiers” who had just joined the religion. The sacrificial wine was both the backbone of the religion and an administrative official, and no other officials were set up, so that the religion and the government were united. Morally, he required the believers to be “honest and not to listen to lies.” When they were sick, they should reflect on their own faults. In terms of discipline, he forbade killing in the spring and summer, and forbade believers to drink alcohol. There were also rules for punishment. For those who had committed minor offenses, they could be allowed to hide their mistakes, as long as they repaired the road for 100 paces, they could make up for their mistakes. For those who had broken the law, they could be forgiven three times. If they still did not repent after three times, they would be punished. In addition, Zhang Lu also placed righteous rice and meat at key transportation points for refugees and travelers to eat and stay for free.
In terms of religious activities, Zhang Lu continued the practice of Zhang Xiu, the “Five-Peck Rice Master” of Ba County. He taught the sick to bow and think about their mistakes, drink the water of the talisman, and added a quiet room for the sick to think about their mistakes in the quiet room. He also made people sacrifice wine for adultery, and he lectured on “Laozi's Five Thousand Words,” which all Taoist people recited. He also made people pray for the sick as ghost officials. The method of praying is to write the patient's name to express the meaning of repentance. Three copies were written, one of which was placed on a mountain, one buried in the ground, and one sunk in the water. This was called the “Three Official Handwriting.”
Zhang Lu implemented the system of unifying the orthodox religion and politics in Hanzhong, and he dominated Hanzhong for nearly 30 years, winning the trust of the people. In the 21st year of Jian'an (215), Cao Cao led his army to capture Hanzhong, and Zhang Lu surrendered to Cao Cao, was appointed as the General of the South, and was given the title of Marquis of Langzhong. As a result, the Zhengyi Mingwei Dao gained legitimacy and was able to spread openly. It was also spread to the northern regions along with the migration of the people, and became the orthodox Taoism of later generations.
正一盟威道的创始人张陵（公元34—156年）羽化后，其子张衡、孙张鲁先后承袭其道。
至汉献帝（190—220年）时，张鲁雄居汉中20余年（191—215），大力传播和发展正一盟威道，壮大教团组织。
张箓自号“师君”，对正一盟威道实行了一些改革，规定了若干新措施：
组织上设置“祭酒”和“治头大祭酒”，管理初入道的“鬼卒”。祭酒既是宗教骨干，又是行政官吏，不再另设官员，实行正教合一。道德上要求教徒“诚信，不听欺妄”。有病时反省自己的过失。戒律上禁止春夏两季杀生，禁止教徒饮酒。关于惩罚也有规定，对有小过者，可以让其自隐其过，只要修路百步，即可补过；对犯法者，可以原谅三次，三原后仍不悔改，才用刑处罚。此外，张鲁还在交通要塞放置义米、义肉，供逃难者、旅行者免费吃住。
在宗教活动方面，张鲁继续巴郡“五斗米师”张修之法。教病人叩头思过，饮符水，并加施静室，使病人在静室中思过。又使人为奸令祭酒，主讲《老子五千文》，令道民都诵习。又使人为鬼吏，为病人请祷。请祷之法是书写病人姓名，表达服罪意思。共写三份，其中一份放在山上，一份埋于地下，一份沉于水中，谓之“三官手书”。
张鲁在汉中实行正教合一指制度，雄踞汉中近30年，民夷信向之。建安二十年（215年），曹操率军攻占汉中，张鲁归顺曹操，被拜为镇南将军，封为阆中侯。因此，正一盟威道取得合法地位，得以公开传播。并随移民北迁而传往北方地区，成为后世道教的正统道教。