1980, originally U.S. basketball slang, 1981 as a verb, though the greeting itself seems to be older (Dick Shawn in "The Producers," 1968). From high (adj.) + five, in reference to the five fingers of the hand.
high-chair
high-class
higher
highest
highfalutin'
high-five
high-flown
high-grade
high-handed
high-heeled
highland