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Feudalism
Feudalism is simply the exchange of land (fief), between the nobles (lords) and the knights (vassals) for military protection.
a oath of loyalty and a pledge of military service.
They were given the rights to buy and sell property, freedom from military service to the lords, a written law that guaranteed the freedom of the townspeople, and the right for an escaped to become free after living a year and a day in the town.
Vassals had to serve lords because the vassals promised to serve a lord in exchange for land.