Aeneas, son of Venus and founder of Rome, embarked on a journey from Troy to Italy after the fall of Troy. He encountered many obstacles along the way, including storms, monsters, and opposition from Hera. He traveled to the underworld and spoke to his father Anchises, who showed him the future glory of Rome. In Italy, Aeneas fought battles against the local tribes to establish control of the land and marry Lavinia, but faced resistance stirred up by Juno. Through military victories and sacrifices from heroes like Nisus and Euryalus, Aeneas defeated Turnus to become the ruler of the new kingdom and pave the way for the founding of Rome.