How were the first computers on the internet connected?

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The wikipedia article on ARPANET explains the earliest architecture. Communication was over leased telephone lines using acoustic modems. Each node was run by a small, specialized computer that did routing. Communication between the routers and the local computers was through a serial port. To read the packets off the serial port, the local machine would have to have some kind of software installed (what we would call today a "tcp/ip stack").

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