Antoninus Pius in the context of "Pietas"

The founding of Rome was a prehistoric event or process later greatly embellished by Roman historians and poets. Archaeological evidence indicates that Rome developed from the gradual union of several hilltop villages during the Final Bronze Age or early Iron Age. Prehistoric habitation of the Italian Peninsula occurred by 48,000 years ago, with the area of Rome being settled by around 1600 BC. Some evidence on the Capitoline Hill possibly dates as early as c. 1700 BC and the nearby valley that later housed the Roman Forum had a developed necropolis by at least 1000 BC. The combination of the hilltop settlements into a single polity by the later 8th century BC was probably influenced by the trend for city-state formation emerging from ancient Greece.

Roman myth held that their city was founded by Romulus, son of the war god Mars and the Vestal virgin Rhea Silvia, fallen princess of Alba Longa and descendant of Aeneas of Troy. Exposed on the Tiber river, Romulus and his twin Remus were suckled by a she-wolf at the Lupercal before being raised by the shepherd Faustulus, taking revenge on their usurping great-uncle Amulius, and restoring Alba Longa to their grandfather Numitor. The brothers then decided to establish a new town but quarrelled over some details, ending with Remus's murder and the establishment of Rome on the Palatine Hill. The year of the supposed founding was variously computed by ancient historians, but the two dates seeming to be officially sanctioned were the Varronian chronology's 753 BC (used by Claudius's Secular Games and Hadrian's Romaea) and the adjacent year of 752 BC (used by the Fasti and the Secular Games of Antoninus Pius and Philip I). Despite known errors in Varro's calculations, it is the 753 BC date that continues to form the basis for most modern calculations of the AUC calendar era.

Marcus Aurelius Antoninus (/ɔːˈriːliəs/ or-EE-lee-əs, Latin: [ˈmaːrkʊs au̯ˈreːli.us antoːˈniːnʊs]; 26 April 121 – 17 March 180) was Roman emperor from 161 to 180 and a Stoic philosopher. He was a member of the Nerva–Antonine dynasty, the last of the rulers later known as the Five Good Emperors and the last emperor of the Pax Romana, an age of relative peace, calm, and stability for the Roman Empire lasting from 27 BC to 180 AD. He served as Roman consul in 140, 145, and 161.

Marcus Aurelius was the son of the praetor Marcus Annius Verus and his wife, Domitia Calvilla. He was related through marriage to the emperors Trajan and Hadrian. Marcus was three when his father died, and was raised by his mother and paternal grandfather. After Hadrian's adoptive son, Aelius Caesar, died in 138, Hadrian adopted Marcus's uncle Antoninus Pius as his new heir. In turn, Antoninus adopted Marcus and Lucius, the son of Aelius. Hadrian died that year, and Antoninus became emperor. Now heir to the throne, Marcus studied Greek and Latin under tutors such as Herodes Atticus and Marcus Cornelius Fronto. He married Antoninus's daughter Faustina in 145.

The Nerva–Antonine dynasty comprised seven Roman emperors who ruled from AD 96 to 192: Nerva (96–98), Trajan (98–117), Hadrian (117–138), Antoninus Pius (138–161), Marcus Aurelius (161–180), Lucius Verus (161–169), and Commodus (177–192). The first five of these are popularly known as the "Five Good Emperors".

The first five of the six successions within this dynasty were notable in that the reigning emperor did not have a male heir, and had to adopt the candidate of his choice to be his successor. Under Roman law, an adoption established a bond legally as strong as that of kinship.

Marcus Annius Verus (c. 50 – 138 AD) was the paternal grandfather and adoptive father of the Roman Emperor Marcus Aurelius, and father-in-law of the emperor Antoninus Pius.

Lucius Aelius Caesar (13 January 101 – 1 January 138) was the father of Emperor Lucius Verus. In 136, he was adopted by the reigning emperor Hadrian and named heir to the throne. He died before Hadrian and thus never became emperor. After Lucius' death, he was replaced by Antoninus Pius, who succeeded Hadrian the same year.

Lucius Aurelius Verus (/ˈvɪərəs/; 15 December 130 – 23 January 169) was Roman emperor from 161 until his death in 169, alongside his adoptive brother Marcus Aurelius. He was a member of the Nerva–Antonine dynasty. Verus' succession together with Marcus Aurelius marked the first time that the Roman Empire was ruled by more than one emperor simultaneously, an increasingly common occurrence in the later history of the Empire.

Born on 15 December 130, he was the eldest son of Lucius Aelius Caesar, first adopted son and heir to Hadrian. Raised and educated in Rome, he held several political offices prior to taking the throne. After his biological father's death in 138, he was adopted by Antoninus Pius, who was himself adopted by Hadrian. Hadrian died later that year, and Antoninus Pius succeeded to the throne. Antoninus Pius would rule the empire until 161, when he died, and was succeeded by Marcus Aurelius, who later raised his adoptive brother Verus to co-emperor.

Marcus Cornelius Fronto (c. 100 – late 160s AD), best known as Fronto, was a Roman grammarian, rhetorician, and advocate. Of Berber origin, he was born at Cirta (modern-day Constantine, Algeria) in Numidia. He was suffect consul for the nundinium of July–August 142 with Gaius Laberius Priscus as his colleague. Emperor Antoninus Pius appointed him tutor to his adopted sons, the future emperors Marcus Aurelius and Lucius Verus.