Robert II of Normandy, or Robert Curthose, was the eldest son of William the Conqueror and succeeded his father as Duke of Normandy in 1087, reigning until 1106. Robert was also an unsuccessful claimant to the throne of the Kingdom of England. The epithet "Curthose" had its origins in the Norman French word courtheuse 'short stockings' and was apparently derived from a nickname given to Robert by his father; the chroniclers William of Malmesbury and Orderic Vitalis reported that William the Conqueror had derisively called Robert brevis-ocrea.

Matilda of Flanders was Queen of England and Duchess of Normandy by marriage to William the Conqueror, and regent of Normandy during his absences from the duchy. She was the mother of nine children who survived to adulthood, including two kings, William II and Henry I.