Heracles

Heracles, or Hercules- as he is known in Rome, was a demigod, and was and is the most famous Roman-Greco legend- common to even those that know absolutely nothing about mythology. He has been the subject of many stories and a major animated motion-picture, Disney's "Hercules". To many, he is more of a 

fairytale (rather than mythological) individual. But going beyond the "celebrity", this is what he was really about. He was the son of Zeus and his great-granddaughter, Alcmene. Zeus and Danaë had a son named Perseus, who was Alcmene's grandfather. Amphitryon- Alcmene's consort- went on a mission to redeem himself after murdering his uncle. During this period, an apparently love-starved pedophile-  Zeus, approached Alclemene (his great-granddaughter) in the form of her husband and slept with her. The already-pregnant Alcmene ended up having twin sons-  Hercules for Zeus and Iphicles for Amphitryon.
Zeus swore that the next child born of the Perseid house, would rule Greece. Heracles was lined up for the position, but due to a trick by Hera, her son- Eurystheus, took his place. He was a sickly child, and is never mentioned among the children, that Hera bore with Zeus. But no record was made of her having an affair. Soon after his birth, Hera sent two serpents to kill him. but as preview, showing his future demeanor, an infant Hercules strangled them.
When Heracles
  grew up, he was made a servant to Eurytheus and his vengeful step-mother, Hera. Hera once sent him a fit of madness, which caused him to kill his wife, Megara and their children. Some of his exploits included were known as "The Labors of Heracles". These were imposed by Eurystheus for killing the latter's wife and children:

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