I'm going to actually provide context because I find this to be an interesting quote.
This is from The History of Tom Jones, A Foundling (written in 1749.)
"In reality, it lies in desiring another to kiss your ass for having just before threatened to
kick his; for I have observed very accurately, that no one ever
desires you to kick that which belongs to himself, nor offers to kiss
this part in another.
It may likewise seem surprizing that in the many thousand kind
invitations of this sort, which every one who hath conversed with
country gentlemen must have heard, no one, I believe, hath ever seen a
single instance where the desire hath been complied with; --a great
instance of their want of politeness; for in town nothing can be more
common than for the finest gentlemen to perform this ceremony every
day to their superiors, without having that favour once requested of
them."
You can see that telling someone to "kiss my ass" has been in use as an insult for over 275 years.