 Born in late 1393, Margaret was the eldest child and the first of six daughters of John the Fearless and Margaret of Bavaria.Her father was, at the time, Count of Nevers and heir apparent to the Duchy of Burgundy ruled by his father, Philip the Bold.On 9 July 1394, Duke Philip and his mentally unstable nephew, King Charles VI of France, agreed that the former's first grandchild would marry the latter's son and heir apparent, Dauphin Charles.