The answer is: ancient and medieval romances.
The novel, as a genre, because its definition boundaries are so wide and its influences so varied (some argue that the novel is as old as ancient epics), is hard to pinpoint as to its origins. However, many would claim that Cervantes´ Don Quixote is the first modern novel, at least as we now know it. This modern form of the novel is, indeed, very much inspired on ancient and medieval romances, which were fictitious stories and long narratives that revolved around knights, honor, and land.