Why did people in the Middle Ages form small communities around a central lord?

During the Middle Ages, people formed small communities around a central lord primarily for protection and security. In a time marked by frequent invasions and instability, the lord provided safety in exchange for loyalty and service. Additionally, the feudal system required peasants to work the land in return for protection and the right to live on and farm the lord's estate. This arrangement fostered a sense of mutual dependency and stability within the community.