Originating in the United Kingdom in the late 19th century as "lawn tennis," with its roots going back to the ancient game of real tennis, tennis spread first throughout the English-speaking world, particularly among the upper classes.
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I don't think any single person "invented" it. I'm sure it just involved out the need to get away from big animals, and then earlier people gradually started running just for fun. The ancient Greeks (or Romans?), I believe, had the first Olympics, which had running events for males which were usually run naked, so that might be when it was first considered a "sport."