We present results from high-resolution infrared observations of magnetars SGR 1806-20 and SGR 1900+14 over 5 years using laser-supported adaptive optics at the 10 m Keck Observatory. Our measurements of the proper motions of these magnetars provide robust links between magnetars and their progenitors and provide age estimates for magnetars. At the measured distances of their putative associations, we measure the linear transverse velocity of SGR 1806-20 to be 350±100 km/s and of SGR 1900+14 to be 130±30 km/s. The transverse velocity vectors for both magnetars point away from the clusters of massive stars, solidifying their proposed associations. Assuming that the magnetars were born in the clusters, we can estimate the braking index to be ∼1.8 for SGR 1806-20 and ∼1.2 for SGR 1900+14. This is significantly lower than the canonical value of n = 3 predicted by the magnetic dipole spin-down suggesting an alternative source of dissipation such as twisted magnetospheres or particle winds.