The Feudal System was set in the belief that the land belonged to God, and the kings, who ruled by Divine Right, managed the land as emissaries as they saw fit. This land was then micro-managed by nobles and/or knights, who would in turn manage smaller areas of land in exchange for military services. Those who lived on this land were in allegiance to the king and their immediate superiors, the nobles and knights.
Everyone was expected to pay for the land they lived and worked on by way of taxes, working, recruitment into military services
and the crafting of equipment.
During that time, though the King or Queen was said to rule by Divine Right, but they answered to the Pope, the “middle man” between God and the rest of the world. The Pope had such powers as to intervene on rulings and even depose a king and put up a new one in his place.