How did people learn to milk animals?

Question

Do you think it was some caveman who decided to catch a beast, pull on it's titties to get the milk out, and then drink it?

Answer 1

now the other side of the story; just watching the calves feed would have been enough, but that wild cow milking can be tough  

Answer 2

No I think it was a caveman who said: "Hey Woman's **** squirt white stuff that's good, my **^# squirts white stuff--not good, lets see if the cow's squirts white stuff that's good like Womans".

Answer 3

As you may one day discover through experience, humans can be rather playful with the bits of their s*x partner's body that distinguish them from their own body.  That the b*****s of a heavily pregnant woman exude milk when manipulated is something that lots of people have discovered.  It doesn't take a great leap of imagination to realize that pregnant female cattle could be worth some kind of examination.