The feudal system emerged in what became Normandy in the 9th century, and William, Duke of Normandy (later William the Conqueror of England) used the system to consolidate his power in the years following his invasion of England in 1066.
Homage was a public act that involved several stages. The vassal would kneel before his lord and place his hands between the lord's. He would then declare that he would become the man (liege man) of the lord, and would pledge faith to the lord. The vassal would vow to serve his lord faithfully, to fight for him, and to attend him in court and council. In return, the lord would promise to protect the vassal and his lands, and to provide him with justice.
Fealty, in turn, was an oath of loyalty that the vassal would swear to his lord. It differed from homage in that it did not involve any promises or stipulations about the vassal's service. Fealty was seen as a basic, ongoing duty that the vassal owed to his lord, regardless of the lord's actions or the circumstances of the time.