The Hindu-Arabic numeral system is what we use today and it replaced the Roman numeral system in Western Europe during the Middle Ages.
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They are actually called Hindu-Arabic numerals, so named because the system originated in India and was brought to Europe by the Western Arabs.
During the Middle Ages
Bear in mind that Roman numerals actually are numbers, they are just not the kind of numbers that we presently use, which are called Arabic numerals. Arabic numerals were first used in Europe in the year 976 AD. Roman numerals still have not entirely fallen out of use, although for most purposes we use Arabic numerals.
The numerals were introduced into Europe around the 10th century.
Arabic numerals were invented in India (and later brought to Europe by Arabs).