Feudalism emerged in Europe in the 9th century after the fall of the Carolingian Empire. Kings granted lands and authority to nobles in exchange for military support. This led to the rise of a feudal system where society was divided into estates. Nobles received fiefs divided into demesne and holdings. Peasants lived on these lands and paid rents and taxes. Feudal relationships were based on oaths of loyalty between lords and vassals. Feudalism shaped politics, society, and the arts during the Middle Ages in Europe.