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This paper aims to describe the origins of feudalism and its relationship with the stirrup controversy. Concerning the origins of feudalism, Lynn White suggested that the introduction of stirrup led to the significant changes in the methods of warfare and military organization system during Charles Martel's reign in the early 8th century. In other words, the use of stirrup contributed to increases in the power of cavalry soldiers on the battlefield, which eventually lead to the system of feudalism. White's suggestion (known as “White's thesis”) aroused controversy over whether the introduction of stirrup made it possible for feudalism to begin in western European society, which has been called the stirrup controversy. Discussion on this controversy would give us a better understanding of the origins of feudalism.