Introduced in "A Game of Thrones" (1996), Jaime is a knight of the Kingsguard and a member of House Lannister, the wealthiest and one of the most powerful families in the kingdom of Westeros. He is the elder son of Tywin Lannister, twin brother of Cersei, with whom he has a longstanding incestuous relationship, and brother of Tyrion. Although Jaime first appears to be unscrupulous and immoral, he later proves to be more complex, honorable, and sympathetic. His lengthy character development has been praised by critics of the novels and the television show.