You probably know the biblical story of Noah and his ark, so I will not re-tell it here. I will focus only on what concerns felt and may reveal the secrets of its origins. I mean felting of animal hair.
There is a legend which says that felt was created from the hair of animals that were on the ark. During the flood, it gradually covered the floor of the vessel, mixing with water and urine. Finally, due to moisture and continuous kneading by feet, paws and hooves, the hair turned into pieces of felt. This way a brand new material revealed to people on the board.
Of course, it is just a legend. But whether it happened or not, the story may tell a true about origins of felting technique. I bet people have not invented felt by deliberate action. Actually, as a feltmaker, I am pretty sure that they discovered it thanks to accidental entanglement of fibers. If you have a cat or a dog with long hair, you probably know very well what felting of animal hair is.