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Before the coming of men there were the Children of the Forest that roamed the land in Westeroes. This changed when the first men invaded and this led to years of war. This eventually ended when the signed a pact agreeing that the first men would have dominion over the open land and the Children of the Forest would have the forset area.
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For 4,000 years they all lived in peace. This was until the "Long Night". Where the ice came down to the edge of the kingdoms, during this the others attacked. They raised the dead and almost killed everyone until the final battle where they were pushed back and the Night's Watch built the wall.
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The Andals crossed the narrow sea and took over all the land with thier steel weapons. They did just as the first men with the bronze. They eventually conquered all the lands whiched lived in peace for thousands of years.
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Farmers find Dragon eggs hidden in a chain of volcanoes. They tame them with magic they learned from the Children of the Forest. They slowly take over everything, forging swords with dragon fire and burning away enemies once and for all.
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After all the invasions eventually seven kingdoms stand and begin to fortify themselves. They have alliances to keep the peace.
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They took over with the dragons that they chainied. They ruled with a firm hand and for thousands of years. Until the rebellion.
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When Robert and Eddark rebelled they had many houses follow them. They eventually dethrrone the king and take the kingdoms on their own. Many die including the woman that Robert loved and was sister to Eddark.