yes he did kill .
With Shuja and Murad disposed of, and with his father Shah Jahan immured in Agra, Aurangzeb pursued Dara Shikoh, chasing him across the north-western bounds of the empire. After a series of battles, defeats and retreats, Dara Sheik was betrayed by one of his generals, who arrested and bound him. In 1659, Aurangzeb arranged his formal coronation in Delhi. He had Dara Shikoh openly marched in chains back to Delhi where he had him executed on arrival on the 30th of August, 1659. Having secured his position, Aurangzeb kept his frail father Shah Jahan at the Agra Fortwhere Shah Jahan died in 1666 and was denied a state funeral. s brothers
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Aurangzeb did not kill his father Shah Jahan, but confined him at the Agra fort until his death in 1666.
He assasinated his brother, Murad
Just to be and remain King
Shahab-ud-din Muhammad Shah Jahan (1628-1658), the fifth Mughal Emperor, was the father of Aurangzeb.
Dara Shikoh had two sons - Suleiman Shikoh who was executed by his uncle Aurangzeb not long after Dara Shikoh himself, and Sipihr Shikoh, who was with his father when he was assassinated but was spared by Aurangzeb and incarcerated for the rest of his life, eventually marrying one of Aurangzeb's daughters.