ASCII 1963 was the first version of the standard and it lacked _ https://dl.acm.org/doi/10.1145/366707.367524
The 1965 draft had _ https://dl.acm.org/doi/10.1145/363831.363839
The first standard edition with _ was 1968 https://www.rfc-editor.org/info/rfc20
The 1977 version is also available https://nvlpubs.nist.gov/nistpubs/Legacy/FIPS/fipspub1-2-197...
I'll guess it's probably Prolog, but maybe Planner (Prolog's predecessor) had it too.