The stars themselves do not move. (Well, they do, but so slowly that nobody can notice it over a lifetime.) The stars APPEAR to rise in the east and set in the west because the Earth itself is...
Look at the Big Dipper, the two stars forming the end of the Big Dippers bowl point directly at the North Star. The Little Dipper should be North of the North Star.
Look at this website for more...
We do not know they have been known (because they could be seen in the sky) from ancient times.
Edit: Nobody "discovered" these constellations per se. Rather, early humans around the globe...