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Chibiusa's revelation that Usagi is actually her future mother, Neo-Queen Serenity, occurs late in the second arc of the Sailor Moon series, called Sailor Moon R in the anime.

While Usagi and the other Senshi found out that Chibiusa is Usagi and Mamoru's future daughter in episode 83/episode 76 in the English dub, and the Black Moon made the connection between Neo-Queen Serenity and Sailor Moon, Chibiusa herself didn't seem to find out that Usagi (whom she as somehow connected to the Silver Crystal from the beginning of the Sailor Moon R arc, and as Sailor Moon from episode 72) was her mother until the final battle against the Death/Doom Phantom, in episode 88.

In that episode, Sailor Moon channels the power of the Silver Crystal as well as the powers of her future self, Neo-Queen Serenity. While battling Black [Wicked] Lady and Wiseman, she changes into Neo-Queen Serenity. Once Black Lady reverts back into Chibiusa, Usagi also de-transforms from the Queen to Sailor Moon. However, when Wiseman aims to destroy her, she again channels the power of the Silver Crystal, and becomes Neo-Queen Serenity. A now-conscious Chibiusa is upset, thinking she can't do anything to help, but upon crying, the 30th century Silver Crystal reveals itself, and Chibiusa transforms into her Princess form to assist Neo-Queen Serenity. Because Chibiusa knows her mother is Neo-Queen Serenity, it is likely this moment when she realizes that Usagi is also her mother (albeit in the future).

In the manga, it is actually Sailor Pluto's death that prompts Black Lady's de-transformation into Chibiusa, and her tear is in mourning for her; once her tear is revealed to be the 30th century Silver Crystal, Chibiusa becomes Sailor Chibi Moon [Sailor Mini Moon].

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Q: When does Chibiusa find out that Usagi is her mother?
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When do Usagi and Chibiusa start getting along?

In the anime, Usagi (Serena) and her future daughter Chibiusa (Rini) never seem to get along perfectly--even until Chibiusa's final appearance in the first part of the Sailor Moon Sailor Stars arc, they occasionally fought, argued, and generally disagreed. However, they fought for each other and their mutual friends and family members regardless of their personal disagreements.In the manga, Usagi and Chibiusa were both more mature characters, and started getting along by the end of the Black Moon arc, when it was revealed that Chibiusa was a Sailor Senshi. Usagi was extremely upset when Chibiusa had to return to the future, but was mildly (and playfully) irritated when Chibiusa returned shortly thereafter with a letter from her mother (Usagi's own future self, Neo Queen Serenity) indicating that Sailor Moon and the other Senshi should train Chibiusa to be a proper Sailor Senshi....


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When do Usagi and Chibiusa start getting along?

In the anime, Usagi (Serena) and her future daughter Chibiusa (Rini) never seem to get along perfectly--even until Chibiusa's final appearance in the first part of the Sailor Moon Sailor Stars arc, they occasionally fought, argued, and generally disagreed. However, they fought for each other and their mutual friends and family members regardless of their personal disagreements.In the manga, Usagi and Chibiusa were both more mature characters, and started getting along by the end of the Black Moon arc, when it was revealed that Chibiusa was a Sailor Senshi. Usagi was extremely upset when Chibiusa had to return to the future, but was mildly (and playfully) irritated when Chibiusa returned shortly thereafter with a letter from her mother (Usagi's own future self, Neo Queen Serenity) indicating that Sailor Moon and the other Senshi should train Chibiusa to be a proper Sailor Senshi....


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