After the foundation by Romulus according to a legend, Rome was ruled for a period of 244 years by a monarchical system, initially with sovereigns of Latin and Sabine origin, later by Etruscan kings. The tradition handed down seven kings: Romulus, Numa Pompilius, Tullus Hostilius, Ancus Marcius, Tarquinius Priscus, Servius Tullius and Lucius Tarquinius Superbus.