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Lancelot

Book character
Lancelot du Lac, also written as Launcelot and other variants, is a character in some versions of Arthurian legend where he is typically depicted as King Arthur's close companion and one of the greatest Knights of the Round Table. Wikipedia
Romantically involved with: Guinevere and Elaine of Corbenic
Children: Galahad
Love: Queen Guinevere
Based on: Uncertain origins