Robert Baratheon is the King and rules over the Seven Kingdoms with his wife Ceresei Lannister.
Cersei has given birth to three children during her marriage to Robert: Joffrey, whom she installs as King after Robert's death, Myrcella and Tommen. Robert does not know, but these children are the result of an incestuous relationship between Cersei and her brother Jaime.
Cersei and Jaime are twins. Cersei installs herself as Queen Regent after Robert's death.
Joffrey wears the name of Baratheon and does not know that Jaime is actually his father.
Renly Baratheon is Robert's youngest and favourite brother. He is Lord of Storn's End and serves on the Small Council as Master of Laws. Rently claims the Iron Throne after Robert's death and engages in the War of the Five Kings. He is killed by his older brother's (Stannis) advisor, Melissandre during the War.
Although the Faith of the Seven strictly prohibits homosexuality, Renly has had a long term relationship with Ser Loras Tyrell.
Renly weds Margaery Tyrell to solidify his bond with his lover's family. Her father, Mace Tyrell is ruler of the Reach.
After Renly's death, Margaery is betrothed to Joffrey Baratheon.
After Renly's death, his interests revert to his older brother Stannis. Stannis is Lord of Dragonstone (the old Targaryen fortress) and serves on the Small Council as Master of Ships.
When Robert dies and Stannis finds out that Joffrey is not Robert's true heir, he proclaims himself the true King and engages in the War of the Five Kings.
Stannis is in a loveless marriage with Selyse Florent whom he regards as sickly and whom he resents because of her failure to bear him a son.
Selyse Baratheon nee Florent is from a Noble House of the Reach that is associated with House Tyrell.
Shireen Baratheon is Stannis and Selyse's only child. When she was an infant, she suffered from an infection called greyscale. The disease, which almost killed her, left the left side of her cheek and neck stiff, dead and flaky, mottled black and grey and hard to the touch.
Under the influence of a priestess named Melissandre, Stannis has converted to the Lord of Light, R'hllor also known as Red God. This is a religion prevalent in Essos, but hardly heard of in Westeros. Melissandre claims to have powerful magical abilities in particular the power of prophecy.
Melissandre of Asshai, Essos, Red Priestess and close adviser to Stannis and his wife Selyse. She sacrifices human lives in honour of R'hllor. She also gives birth to a "shadow son" who murders Renly, Stannis' younger brother, who also claims the throne.
Stannis fought for his brother Robert in the rebellion against the Targaryens. At one point he, his family and army were besieged at Storm's End without food. He was rescued by a smuggler named Davos. Stannis knighted Davos as a reward, but also cut off four of his fingers as punishment for smuggling.
Lord Davos Seaworth originates from the poorest slums in King's Landing. He is fiercely loyal to Stannis.
Robert Baratheon is known to have fathered a number of bastards. Given that Cersei's children are not Roberts, Melissandre fears that perhaps a bastard son would have a claim to the throne. Gendry is found to be one of Robert's bastard sons. She therefore seduces him and brings him to Dragonstone, where she conducts a blood leeching ritual on him and then locks him up in the dungeon. He is rescued by Davos who sends him away in a row boat.
Gendry is an unacknowledged bastard of King Robert who worked in King's Landing as an apprentice blacksmith until Robert dies and the funds for his keep stop coming. He then signs on as a recruit for the Night Watch.
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