 Complete the following phrase:  According to legend, the Roman Kingdom was founded in 753 BC, and was ruled by a succession of seven kings. The last king, Lucius Tarquinius Superbus, ruled in a tyrannical manner and, in 510 BC, his son Sextus Tarquinius raped a noblewoman named Lucretia. Lucretia, the wife of a senator named Lucius Tarquinius Collatinus, committed suicide because of the rape, and this led to a 