 She became most known for her successful defense of French Burgundy against John IV, Count of Armagnac in 1419.Margaret was the fifth child of Albert I, Duke of Bavaria, Count of Hainault, Holland, and Zeeland and Lord of Frisia, and Margaret of Brieg.In 1385, at the Burgundian double wedding in Cambrai, she married John, Count of Nevers, the son and heir of Philip the Bold, Duke of Burgundy and Margaret of Dampierre, Countess of Flanders, Artois and Burgundy; at the same time her brother, William II, Duke of Bavaria married Margaret of Burgundy.