In the earlier Middle Ages, towns arose from villages, and were, like the villages, part of the land holdings of feudal lords. Sometimes the holdings were divided or returned to the king and given to new lords, and it often came to be that towns were under the jurisdiction of a different lord than the surrounding countryside.
In the later Middle Ages when towns actually came into being they were run by a council made up of merchants and wealthy non noble families much like today. They would deal with taxes, protection, keeping the peace and making sure all the laws were obeyed and establishing those laws. The governments of these towns were republican in nature, and were referred to as medieval communes.
There is a link below to an article on medieval communes.
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Townspeople were to pay a fixed annual sum to the lord or king and gain independence for their town as a "borough" with the power to govern itself. The marketplace became the focus of many towns.
In Medieval times, a good feudal lord shared the bounty of the land with the tenant. A good feudal lord also shared meals with the tenant.
liege lord
Feudal lord
Stephen David Young holds the feudal title of Lord of Westbury Buckinghamshire.
Stephen David Young holds the feudal title of Lord of waxham Norfolk.