A vassal was paid for past services (mostly as a knight during the King's wars) with land. In return for getting the land, its title and its income he promised allegiance to the king (his "liege lord") and promised to support him in person and with his local men and supporters in wars to come. It's called the feudal system.
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A Vassal takes a pledge of loyalty to the lord
a oath of loyalty and a pledge of military service.
A person who swore to be loyal and support a lord was that lord's vassal. The lord gave land and protection in exchange, so it was a mutual pledge and obligation.
It was in exchange for an oath of loyalty.
The knights were originally the heavy cavalry. The word knight came to be a title, usually given by a monarch, and was regarded as the lowest level of the nobility. A vassal was a person who had a relationship of mutual obligation with a lord. The vassal sword loyalty and obedience, and the lord granted land and protection in exchange. A vassal could be a knight, and a knight could be a vassal, but there was nothing saying they had to be.