According to traditional Roman historiography, Romulus founded the city of Rome in 753 BC. Romulus became Rome’s first king, and he would be followed by six others. In 510 BC, Rome was under the rule of its seventh and final king, Lucius Tarquinius Superbus. He ruled with violence and intimidation, but tensions came to a head when his son Sextus Tarquinius raped a Roman noblewoman named Lucretia. It was this event that began the overthrow of the Roman kingdom and the establishment of the Roman Republic.