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A motte and bailey castle was built at Pembroke by Arnulf of Montgomery.
Gilbert de Clare was made the first Earl of Pembroke. He took control of the castle of the same name.
In 1189 William Marshal married Isabel, the heiress of Earl Richard de Clare. Isabel's castles passed to William including Pembroke Castle.
After the death of Edmund Tudor, his brother, Jasper Tudor Earl of Pembroke, moved Margaret Beaufort to Pembroke Castle. Margaret was the wife of Edmund Tudor and expecting their first child, Henry Tudor, the future King of England.
The future king of England, Henry VII, was born at Pembroke Castle. His father was Edmund Tudor who had died a couple of months before the birth and his mother was Margaret Beaufort who was directly descended from Edward III.
Pembroke Castle was captured by William Herbert. The young Henry Tudor was found in the castle where he had been hiding.
William Herbert was given the castle at Pembroke in recognition of his assistance to Edward IV. Herbert was made the guardian of the future Henry VII who was living at the castle.
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