It is unknown exactly when Cross Country was invented. This is because man himself have been racing against each other sense the caveman era. It was deemed to be "manly" to be the faster man in the tribe. Over time, the races became more sophisticated and organized, to the point of where it is at today.
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Track and Field has been a part of the Modern Olympics since the first Modern Games in 1896. The first event known to be competed at the Ancient Olympics was the stade run, a foot race of approximately 190 meters. So it could be said that track, or an ancient variation of track, has been competed at the Olympics since the first Ancient Olympics. History states that the pentathlon was included at the Games in 708 BC. This pentathlon consisted of discus, jumping, javelin, running, and Wrestling. Discus and javelin are the first known 'field' events competed at the Olympics.
Track has been around since the first Olympic games in 776 BC, where there was a running race. In later years, they started more running, throwing, and jumping events.
The Ancient Greeks had track and field events for the first Olympic Games. They ran nude.