sentences:  His famous grandson Matsudaira Motoyasu (later named Tokugawa Ieyasu) was born here on December 16, 1542.The Matsudaira were defeated by the Imagawa clan in 1549, and Ieyasu was taken to Sunpu as a hostage.Following the defeat of the Imagawa at the Battle of Okehazama, Ieyasu regained possession of Okazaki in 1560 and left his eldest son Matsudaira Nobuyasu in charge when he moved to Hamamatsu Castle in 1570.