I think laces were around forever. I'm not exactly sure.
laces
In England In 1790 as the shoe laces we know of now but shoe laces have been in use since 7000bc, if not further by tying a leather cord into the shoe.
Before Velcro was invented, people used traditional fastening methods such as buttons, zippers, buckles, hooks, and laces to secure clothing and shoes. These methods required more manual dexterity and time to fasten compared to the easy and quick application that Velcro provides.
Buttons.
bikes
benches
pickaxes
carriages
Brief case
wall sockets
We used letters.
horses or their feet.