In Old England, the mile - derived from the Roman "mille passus" or 1000 double steps - was originally 5000 feet long as in the Roman definition (1 "passus" = 5 feet). Later, it took 5280 feet to accomodate exactly 8 furlongs, the most popular measure of the time.
Actually, the usual happened : the foot and the rod went slowly their separate ways, being used by different industries (the weaver and the farmer ...) Things had to be straightened up and, as the foot and the rod were already entrenched, we find these strange figures : 16.5 ft/rod and 5280 ft/mile. This was voted by the House under Queen Elizabeth I in 1595.
It should be noted that the furlong comes from the Greek and Roman stadion, which they themselves inherited from more ancient times. It seems to be the optimal length for the traditional plough.