The Pendragon starter set has been an excellent way to introduce yourself to this interesting world of knights and chivalry. Produced by Chaosium it was originally created by Greg Stafford in 1985 he carried it through many editions. This is the sixth edition of rules.
This game is also played as a generational one, meaning that each adventure happens during a year then after gaining experience you age and carry on. Over the years you can marry (with your lord's permission), gain an estate, have to run it, sire children, train them, then pass away and start roleplaying one of your children. Although previous editions have much more detailed rules for all sorts of things, but are available here, there has been no new printed ones yet.