In 1361, after the premature death of his second cousin, Philip I, Duke of Burgundy, Charles claimed the Duchy of Burgundy by primogeniture. He was the grandson of Margaret of Burgundy, eldest daughter of Robert II, Duke of Burgundy (d. 1306). However, the duchy was taken by King John II, who was son of Joan of Burgundy, second daughter of Duke Robert II, who claimed it in proximity of blood, and made provision that after his death it would pass to his favourite son Philip the Bold.