You would start with a computer that does have an OS on it. You would do your programming and assembly coding on a functioning pc.
Then you would take the machine code you generated, and place that (automatically or by hand) into a special memory address on a floppy disk or the hard drive that the BIOS knows to automatically load upon boot, and then the assembly code takes it from there.
Before there were working PCs to do this with, the assembly code was all done by hand and loaded in via card readers.
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