From the Bayeux Tapestry - A depiction of William the Conqueror and his two half-brothers, Odo, Bishop of Bayeux (sitting to WIlliam's right) and Robert, Count of Mortain (sitting to WIlliam's left)
William and his two half-brothers had the same mother, Harlette or Herleva
of Falaise.Of course, William’s father
was Robert I, Duke of Normandy.Harlette
then married Herlevin de Conteville and gave birth to two sons, Odo and Robert. While Odo was a cleric, he did father a son whose descendants included several noble lines. William, his brother, Robert, and another Companion, Aimery, vicomte of Thouars, were the ancestors of many notable descendants including Henry II and his wife, Eleanor of Aquitaine, as well as their son, King John and his descendants.