
There's a classic five volume series "A History of Private Life" that works through a breadth-first survey over time. It can make for a great starting point, and is a bit like an encylopedia in the way you can engage with it as essays on certain times and topics instead of being expected to read it through serially.
History of Private Life, edited by Aries and Duby - volumes 2 and 3 cover the medieval and renaissance period.
Shakespeare: the World as Stage
One Summer: America, 1927
The Mother Tongue: English and How it Got that Way
Made in America: an Informal History of the English Language in the US
At Home: A Short History of Private Life
(Of course, my main area of interest is the early modern period, when Islam was a wall that bisected the world: Muslim merchants could and did travel freely through most of the Old World, but no one else could expect to get through Islam. The pre-Islamic world was more mobile, especially for merchants and mercenaries; likewise the early age of the Mongols, before the Golden Horde and the Il-Khanate converted.)
"Serf" is servus in Latin: literally the word "slave". Serfs began as chattel slaves on late-Roman latifundia, but were tied to the land, not to individual owners, by late Roman laws trying to fight depopulation and keep agriculture running.
In the Dark Age, the Carolingian period, and the Viking Age, slaves'/serfs' rights increased due to pressure from the Church, while free commoners' rights decreased, often also due to pressure from the Church. By the end of the Viking Age and the beginning of the Middle Ages proper, official documents spoke of "slaves free and unfree"; by the High Middle Ages, land as well as people was servile or free, so that a serf could own free land (which required a cash rent) or a freeman could own servile land (which required labor service). "Own" here meant "lease", but you could literally buy or sell the lease, or borrow money against it.
A History of Private Life, especially its second and third volumes, and Marriage and Family in the Middle Ages are excellent sources on this.