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The children of incestuous relationships were regarded as illegitimate, and are still so regarded in some societies today.

In most cases, the parents did not have the option to marry to remove that status, as incestuous marriages were, and are, normally also prohibited.

Therefore, for example, an Egyptian could marry an aunt, but a Roman could not.

Despite the act of incest being unacceptable within the Roman Empire, Roman Emperor Caligula is rumored to have had sexual relationships with all three of his sisters (Julia Livilla, Drusilla, and Agrippina the Younger).

Such children are at greater risk for congenital disorders, death, and developmental and physical disability, and that risk is proportional to their parents' coefficient of relationship—a measure of how close the parents are related genetically.

Incestuous unions were discouraged and considered nefas (against the laws of gods and man) in ancient Rome.

In AD 295 incest was explicitly forbidden by an imperial edict, which divided the concept of incestus into two categories of unequal gravity: the incestus iuris gentium, which was applied to both Romans and non-Romans in the Empire, and the incestus iuris civilis, which concerned only Roman citizens.

In ancient China, first cousins with the same surnames (i.e., those born to the father's brothers) were not permitted to marry, while those with different surnames (i.e., maternal cousins and paternal cousins born to the father's sisters) were.

Several of the Egyptian Pharaohs married their siblings and had several children with them.

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For example, Tutankhamun married his half-sister Ankhesenamun, and was himself the child of an incestuous union between Akhenaten and an unidentified sister-wife.