The shell-type supernova remnant (SNR) RCW 86, possibly associated with the historical supernova SN 185, with its relatively large size (about 40' in diameter) and the presence of nonthermal X-rays is a promising target for γ-ray observations. The high sensitivity, good angular resolution of a few arcminutes and the large field of view of the High Energy Stereoscopic System (HESS) make it ideally suited for the study of γ-ray morphology of such extended sources. HESS observations have indeed led to the discovery of the SNR RCW 86 in very high energy (VHE; E > 100 GeV) γ-rays. With 31 hr of observation time, the source is detected with a statistical significance of 8.5σ and is significantly more extended than the HESS point-spread functio...