The Centaurs are best known for their fight with the Lapiths who, according to one origin myth, would have been cousins to the centaurs. The battle, called the Centauromachy, was caused by the centaurs' attempt to carry off Hippodamia and the rest of the Lapith women on the day of Hippodamia's marriage to Pirithous, who was the king of the Lapithae and a son of Ixion. Theseus, a hero and founder of cities, who happened to be present, threw the balance in favour of the Lapiths by assisting Pirithous in the battle.