Narrative poetry is among the oldest, and perhaps the oldest, genre of poetry.
Much of narrative poetry is performance poetry and has its source in an oral tradition: the Scots and English ballads, the tales of Robin Hood, of Iskandar, and various Baltic and Slavic heroic poems all were originally intended for recitation, rather than reading.
In terms of narrative poetry, a romance is a narrativepoem that tells a story of chivalry.
A narrativepoem is an extended poem which tells a story.
The narrativepoem was the original form in which sagas were passed down from generation to generation (such as Beowulf).
One, the Catalepton (bagatelles?), consists of fourteen little poems, some of which may be Virgil's, and another, a short narrativepoem titled the Culex (the mosquito), was attributed to Virgil as early as the first century AD.