Some time around about 300 AD in China though uptake was slow and then 6th to 7th centuries it start to show up in Europe in increasing numbers.
Yeah, I thought the invention and spread of metal stirrups had something to do with the abandonment of chariots, but I could be off base with that. In old Roman mosaics and paintings horseback riders have no stirrups, their legs just dangle off the sides. I remember reading that during the filming of Gladiator, one of the ahistorical changes they deliberately made was adding stirrups to the horses' gear, because the stunts would be just too dangerous to do without them. Having solid stirrups allows the rider to stand up in the saddle and brace himself when stabbing someone, and allows a skilled archer to fire arrows.
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