People in the Life of Hercules (Heracles/Herakles)

Alcmene was the mother of Hercules. She was the grand-daughter of Perseus and the wife of Amphitryon, but Amphitryon killed her father, Electryon, by accident. The marriage wasn't to be consummated until Amphitryon had avenged the death of Alcmene's brothers. On the night after this was accomplished, Zeus came to Alcmene in the guise of Amphitryon with proofs of the revenge. Later, the real Amphitryon came to his wife, but by this time she was pregnant with her first son, Hercules. Amphitryon fathered Hercules' twin brother, Iphicles. [Apollodorus 2.4.6-8]

Pelops is given as Alcmene's father in Eur. Herc. 210ff.

Rhadamanthys married Alcmene after Amphitryon died. [Apollodorus 2.4.11]

Antaeus of Libya wrestled and killed passing strangers. When Hercules came his way, the pair wrestled. Hercules learned that the earth energized Antaeus, so he held him up, drained his strength, and so killed him. [Apollodorus 2.5.11]

Hercules and his lover Hylas went with Jason and the Argonauts on their quest for the Golden Fleece. However, when the nymphs on Mysa carried Hylas off, Hercules left the group to search for Hylas.

Castor and his brother Pollux were known as the Dioscuri. Castor taught Hercules to fence, according to Apollodorus. Castor was also a member of the Argonauts. Pollux was fathered by Zeus, but Castor's parents were Leda and her husband Tyndareus.

Deianeira was Hercules' last mortal wife. She was the daughter of Althaea and Oeneus or Dexamenus, king of Olenus. Hercules defeated the river god Achelous in order to marry Deianeira.

Deianeira thought she was losing Hercules to Iole, so she put what she thought was a love potion on a garment which she sent to Hercules. When he put it on, the potent poison that had been called a love potion took affect. Hercules wanted to die, so he built a pyre and persuaded someone to light it. He then ascended to become one of the gods and married the goddess Hebe.

Eurystheus is Hercules' cousin an king of Mycenae and Tiryns. After Hera had tricked an oath out of Zeus that the boy born that day who was his descendant would become king, she caused Eurystheus to be born early and Hercules, who was due, was held back until Eurystheus was born. It was for Eurystheus that Hercules performed the 12 labors.