William of Ypres to the English throne following Henry I's death in 1135 finally changed William's fortunes for the better. He commanded Stephen's troops against the forces of their cousin, Henry's daughter Empress Matilda, who claimed the throne. Many of the soldiers were William's fellow Flemings, including his brother. Stephen's campaign in Normandy failed because the local noblemen refused to co-operate with William and other Flemings. William was much more active in England, where he took part in the Battle of Lincoln (1141), during which Stephen was captured by the Empress's forces. William led his contingent away when it became clear that the
Henry I of England with William against Robert. Henry was present when William died in a hunting accident in 1100, and he seized the English throne, promising at his coronation to correct many of William's less popular policies. Henry married Matilda of Scotland but continued to have a large number of mistresses by whom he had many illegitimate children. Robert, who invaded in 1101, disputed Henry's control of England; this military campaign ended in a negotiated settlement that confirmed Henry as king. The peace was short-lived, and Henry invaded the Duchy of Normandy in 1105 and 1106, finally defeating Robert at the Battle of