The idea of looping music seems like such a modern idea, but looping has been around for a very long time, especially in the context of a canon.
Here’s an example from 1516 of a piece of manuscript Henry VIII (b. 1491, d. 1547), king of England and Ireland, by Petrus de Opitiis, a Flemish merchant of Italian origin. The complete work can be found right here. Click the picture to see the full page.