In Roman mythology, Romulus and his twin brother Remus were the founders of the city of Rome. They were the children of Rhea Silvia and Mars (or, in some variations, the demi-god hero Hercules). Their story is recorded by many authors, including Virgil, who claims their birth and adventures were fated for Rome to be founded. Romulus and Remus were the direct descendants of Aeneas, whose fate-driven adventures to discover Italy are described by Virgil in The Aeneid. Romulus and Remus were related to Aeneas through their mother's father, Numitor. Numitor was a king of Alba Longa, an ancient city of Latium in central Italy, and father to Rhea Silvia.

Source: World History