Firefox preexists Chrome by like, six years (2002, 2008).
Firefox stems from Mozilla (1998) stems from Netscape Navigator (1994, originally).
Chrome stems from Blink stems from Webkit (Apple's thing, 2001ish) stems from KHTML (KDE, 1998).
Amusingly, all the historical parts of the Chrome stack are basically still around. You can install recent versions of Safari and use Webkit, or install recent versions of Konqueror and browse the web with KHTML (although development has lagged since 2016).
Firefox stems from Mozilla (1998) stems from Netscape Navigator (1994, originally).
Chrome stems from Blink stems from Webkit (Apple's thing, 2001ish) stems from KHTML (KDE, 1998).
Amusingly, all the historical parts of the Chrome stack are basically still around. You can install recent versions of Safari and use Webkit, or install recent versions of Konqueror and browse the web with KHTML (although development has lagged since 2016).