A key tool in p-adic representation theory is the Iwasawa algebra, originally constructed by Iwasawa in 1960's to study the class groups of number fields. Since then, it appeared in varied settings such as Lazard's work on p-adic Lie groups and Fontaine's work on local Galois representations. For a prime p, the Iwasawa algebra of a p-adic Lie group G, is a non-commutative completed group algebra of G which is also the algebra of p-adic measures on G. It is a general principle that objects coming from semi-simple, simply connected (split) groups have explicit presentations like Serre's presentation of semi-simple algebras and Steinberg's presentation of Chevalley groups as noticed by Clozel. In Part I, we lay the foundation by giving an expl...