Hercules, Xena, and Iolaus
Iolaus is Hercules' nephew; his brother's son.
Actually Hercules and Iphicles are half-brothers.
Hercules is the son of Zeus, who appeared to his mother
Alcmena in the guise of her husband Amphitryon while the latter
was away at war.
Iphicles is the son of Amphitryon and Alcmena.
Still, Iolaus is Hercules' nephew.
Xena and Hercules are cousins.
Her father Ares and Hercules are brothers;
half-brothers, actually, since their common father is Zeus.
Ares pulled the same trick on Xena's mother
that Zeus did on Hercules' mother:
appearing in the guise of her husband while the latter was away at war.
Hercules is the Roman version
of the Greek name Heracles, which means Glory of Hera.
Perhaps an early example of irony,
considering how well he gets along with her....