The thermal–elastic martensitic transformation from high-temperature Ni2In-type hexagonal structure to low-temperature TiNiSi-type orthorhombic structure has been widely studied in MnMX (M = Ni or Co, and X = Ge or Si) alloys. However, the answer to how the orthorhombic martensite nucleates and grows within the hexagonal parent is still unclear. In this work, the hexagonal–orthorhombic martensitic transformation in a Co and Ge co-substituted MnNiSi is investigated. One can find some orthorhombic laths embedded in the hexagonal parent at a temperature above the martensitic transformation start temperature (M s). With the the sample cooing to M s, the laths turn broader, indicating that the martensitic transformation starts from these pre-existing orthorhombic laths. Microstructure observation suggests that these pre-existing orthorhombic laths do not originate from the hexagonal–orthorhombic martensitic transformation because of the difference between atomic occupations of doping elements in the hexagonal parent and those in the pre-existing orthorhombic laths. The phenomenological crystallographic theory and experimental investigations prove that the pre-existing orthorhombic lath and generated orthorhombic martensite have the same crystallography relationship to the hexagonal parent. Therefore, the orthorhombic martensite can take these pre-existing laths as embryos and grow up. This work implies that the martensitic transformation in MnNiSi1−x (CoNiGe) x alloy is initiated by orthorhombic embryos.