 According to the founding myth of Rome, the city was founded on 21 April 753 BCE by twin brothers Romulus and Remus, who descended from the Trojan prince Aeneas and who were grandsons of the Latin King, Numitor of Alba Longa.According to tradition and later writers such as Livy, the Roman Republic was established around 509 BCE, when the last of the seven kings of Rome, Tarquin the Proud, was deposed by Lucius Junius Brutus, and a system based on annually elected magistrates and various representative assemblies was established.A constitution set a series of checks and balances, and a separation of powers.