Terry Pratchett had some books kind of like this.

The Carpet People has characters that live in the fibers of a living room carpet and are subject to mysterious phenomena they don't understand (such as a vacuum cleaner).

The Bromeliad Trilogy is similar, although the characters are a few inches high and at least have a concept of full-sized humans. They have to move their tribe from a department store that's closing down to somewhere else, which means they have to learn about the outside world.