After the fall of the Roman Empire, Europe stayed without the protection of the Roman army, and groups, known as Barbarians, like Huns, Visigoths, Vandals, Angles, Saxons, and Vikings, started invading western Europe. Those groups were characterized by being agressive and warlike; for that reason, people had the necessity to protect themselves, and they set up a new system known as feudalism, which was about rights and obligations to take care of the land ownership.
In other words, as common people did not have the protection of the Roman Army, they had to move towards wealthy and powerful lords to be protected by the Lords' private army, and as a payment, they looked after the land and the animals.