The history of Hamas could be thought of to start in August of 1988, when they issued the Covenant of the Islamic Resistance Movement.

In this covenant, they state:

"The Islamic Resistance Movement is a distinguished Palestinian movement, whose allegiance is to Allah, and whose way of life is Islam. It strives to raise the banner of Allah over every inch of Palestine." (Article 6)

"Israel will exist and will continue to exist until Islam will obliterate it, just as it obliterated others before it." (Preamble)

"The land of Palestine is an Islamic Waqf [Holy Possession] consecrated for future Moslem generations until Judgment Day. No one can renounce it or any part, or abandon it or any part of it." (Article 11)

"Palestine is an Islamic land... Since this is the case, the Liberation of Palestine is an individual duty for every Moslem wherever he may be." (Article 13)

"The day the enemies usurp part of Moslem land, Jihad becomes the individual duty of every Moslem. In the face of the Jews' usurpation, it is compulsory that the banner of Jihad be raised." (Article 15)

"Ranks will close, fighters joining other fighters, and masses everywhere in the Islamic world will come forward in response to the call of duty, loudly proclaiming: 'Hail to Jihad!'. This cry will reach the heavens and will go on being resounded until liberation is achieved, the invaders vanquished and Allah's victory comes about." (Article 33)

"[Peace] initiatives, and so-called peaceful solutions and international conferences are in contradiction to the principles of the Islamic Resistance Movement... Those conferences are no more than a means to appoint the infidels as arbitrators in the lands of Islam... There is no solution for the Palestinian problem except by Jihad. Initiatives, proposals and international conferences are but a waste of time, an exercise in futility." (Article 13)

"The Day of Judgment will not come about until Moslems fight Jews and kill them. Then, the Jews will hide behind rocks and trees, and the rocks and trees will cry out: 'O Moslem, there is a Jew hiding behind me, come and kill him." (Article 7)

"The enemies have been scheming for a long time ... and have accumulated huge and influential material wealth. With their money, they took control of the world media... With their money they stirred revolutions in various parts of the globe... They stood behind the French Revolution, the Communist Revolution and most of the revolutions we hear about... With their money they formed secret organizations - such as the Freemasons, Rotary Clubs and the Lions - which are spreading around the world, in order to destroy societies and carry out Zionist interests... They stood behind World War I ... and formed the League of Nations through which they could rule the world. They were behind World War II, through which they made huge financial gains... There is no war going on anywhere without them having their finger in it." (Article 22)

"Zionism scheming has no end, and after Palestine, they will covet expansion from the Nile to the Euphrates River. When they have finished digesting the area on which they have laid their hand, they will look forward to more expansion. Their scheme has been laid out in the 'Protocols of the Elders of Zion'." (Article 32)

"The HAMAS regards itself the spearhead and the vanguard of the circle of struggle against World Zionism... Islamic groups all over the Arab world should also do the same, since they are best equipped for their future role in the fight against the warmongering Jews." (Article 32)

I don't read any of that and think that there's any way to coexist with Hamas, and if you do, you should seriously reread their stated goals and think again.