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He married Matilda of Scotland and they had two surviving children, Empress Matilda and William Adelin. Robert disputed Henry's control of England and invaded from Normandy in 1101. The ensuing military campaign ended in a negotiated settlement that confirmed Henry as king. The peace was short-lived, however, and Henry invaded the Duchy of Normandy in 1105 and 1106, finally defeating Robert at the Battle of Tinchebray.

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