Antonia Minor friends and they included wealthy Jew Alexander the Alabarch and Lucius Vitellius, a consul and father of future Emperor Aulus Vitellius. In 16 BC, she married the Roman general and consul Nero Claudius Drusus. Drusus was the stepson of her uncle Augustus, second son of Livia Drusilla and brother of future Emperor Tiberius. They had several children, but only three survived: the famous general Germanicus, Livilla and the Roman Emperor Claudius. Antonia was the grandmother of the Emperor Caligula, the Empress Agrippina the Younger and through Agrippina, great-grandmother and great-aunt of the Emperor Nero. Drusus died in June 9 BC
Agrippina the Elder was made "princeps". While Germanicus was administering the oath of fealty to Tiberius, a mutiny began among the forces on the Rhine. During the mutiny, Agrippina brought out their sixth child, Gaius, and made preparations to take him away to a safer town nearby. He was in a full army outfit including the legionary hobnailed boots ("caligae"). These military-booties earned Gaius the nickname "Caligula" (lit. "little boots"), and garnered sympathy for Agrippina and the child among the soldiery. Tacitus attributes her actions as having quelled the mutiny (Tacitus, "Annals" 1.40–4). Once the mutiny was put to an end, Germanicus allowed