Lancelot had an affair with Gweneviere (Arthurs wife)
Queen Guinevere.
Because, without King Arthur there would never have been a round table. He was the one who put it all together.
In the Arthurian legend, it is almost always his illegitimate father Uther who was king before him. In most legends, Aeuralius Ambrosius was king before Uther, and before him it was Vortigern.
Legends are usually about heroes or gods. For example the legend of Hercules is about a Greek man that was the son of Zeus.
In Arthurian legend, Sir Galahad is usually portrayed as the son of Lancelot and Elaine of Corbenic.
In Arthurian legend, LANCELOT was the father of GALAHAD (whose mother was ELAINE)
Camalot
The basic book to the Arthurian legend is 'King Arthur and the Knights of the Round Table' - an illustrated classic by Howard Pyle.
galatine
Sir Lancelot
Enide Enid(e)
Queen Guinevere, King Arthur's wife in the Arthurian legend.
Lancelot had an affair with Gweneviere (Arthurs wife)
Sir Kay,who is also his foster brother.
bors
In Arthurian legend, Arthur is the illegitimate son of Uther and Ygraine. Ygraine was the husband of a client king of Uther, but Uther fell in love with her, killed her husband in battle and took her as his own bride.