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I don't know..well I guess they knew that humans could give milk to their offspring, then they must have figured out that other mammals could do it too. Since cows have always been popular then I guess they would have noticed the cattle's offspring feeding off the mothers and then someone must have thought I want to try some of that cattle's milk! And hey presto! Here we are drinking all sorts of milk...cows, goats, buffalo etc.
Animal milk is first known to have been used as human food at the beginning of animal domestication. Cow's milk was first used as human food in the Middle East. Goats and sheep were domesticated in the Middle East between 9000 and 8000 BC.
And yeaa..that's all we know so far 
I think Stellaapplemoor's got it - someone would have noticed a calf feeding off the mother, and the way the pulling motion brings the milk out, and given it a go for themselves with their hands. Who that person was, no-one knows - it was probably long before writing existed, maybe even proper language. I've personally milked a cow once before, was a bit odd at first but once you figured out you don't so much squeeze the teats but just pull downwards, you get the hang of it very quickly.
Correct me if I'm wrong but Cattle generally get pregnant more often than dogs, once a year? They produce more milk, since they are bigger and are feeding bigger offspring. Back in the days when people first started this 'Should I drink milk from a cows teet' thing dogs were wild. They may not have even noticed the dogs...since they owned herd of cows I suspect it would have been much easier 
Answer this Question: "Who found out you could milk a cow?"
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Who found out you could milk a cow?


Who found out you could milk a cow?
who was the person who knew you could milk a cow??? and how did they end up finding out you could do it (lol)