This is, for 10  points, what hero who slew the Minotaur and caused his father's death by raising a black sail?
Menestheus became king of Athens after slandering this figure, while for a time this figure was trapped in the underworld along with his friend Pirithous. This figure had originally traveled to the underworld to capture Persephone for his friend after they had kidnapped Helen, and on another famous journey, he defeated Cercyon in wrestling, stretched Sinis between his two trees, and placed Procrustes in his own torturous bed. This is, for 10  points, what hero who slew the Minotaur and caused his father's death by raising a black sail?
Menestheus became king of Athens after slandering this figure, while for a time this figure was trapped in the underworld along with his friend Pirithous.
Theseus