enry Tudor, the future Henry VII king of England, was born at Pembroke Castle in January 1457. He was the son of Edmund Tudor the Earl of Richmond and Lady Margaret Beaufort. Edmund Tudor was the son of Catherine of France who had been married to Henry V, King of England. Edmund Tudor's father was not Henry V, but Owen Tudor who Catherine married after Henry V's death. Henry Tudor's claim to the English throne was on his mother's side, Lady Margaret of Beaufort, who was directly descended from Edward III's son John of Gaunt through his marriage to Catherine Swynford. This simplified family tree shows the link from Lady Margaret back to King Edward III.
Edmund Tudor had married Lady Margaret in 1455 when she was only twelve years old. When Edmund died in captivity a year later, Lady Margaret was expecting their first child, Henry. Henry's early years were spent with his uncle Jasper Tudor the Earl of Pembroke. In 1471, after Henry VI and the Prince of Wales were killed and the Lancastrians were defeated, Henry Tudor found himself head of the Lancastrian family. As it was unsafe for him to remain in England, Henry and Jasper Tudor fled to Brittany to wait for a chance of claiming the English throne.
With money from Charles VIII of France for soldiers and ships, Henry Tudor landed at Milford Haven in Wales in August of 1485. Within days his army was at Shrewsbury gaining support and on August 22 he defeated Richard III at the Battle of Bosworth.
Henry's claim to the throne of England was not the only one. Richard III had a nephew, Edward, Earl of Warwick.