The motion of a planet in the sky is very different from that of stars. This will not be obvious by just viewing one night unfortunately. By tracking the motion of the brightest dots in the sky over a period, it becomes clear that certain objects (planets) move very differently than the others (stars).
The telescope was discovered (at least in the western world) in the 1600s. With even a simple telescope it is pretty clear that these objects are not stars.
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