<P> Jaime was born shortly after the birth of his twin sister Cersei . The two were inseparable as children, and at an early age began an incestuous affair that continued into adulthood and even after Cersei's marriage to Robert Baratheon . At the age of fifteen he participated in the battle against the Kingswood Brotherhood, squiring for Lord Sumner Crakehall, and was subsequently knighted by Ser Arthur Dayne . While returning to Casterly Rock, he visited Cersei at King's Landing, who persuaded him to join the Kingsguard in order to be close to her . Jaime was accepted into the Kingsguard, but Tywin resigned as Hand of the King, taking Cersei with him back to Casterly Rock . Jaime quickly realises that Aerys named him to the Kingsguard solely to strip Tywin of his heir . Jaime becomes further disillusioned after witnessing Aerys burn Rickard and Brandon Stark alive and overhearing him raping his sister - wife Rhaella . When Tywin begins sacking King's Landing at the climax of Robert's Rebellion, Jaime realises that Aerys intends to burn King's Landing with wildfire and kills him, almost immediately being discovered by Tywin's men . Robert Baratheon later pardons Jaime for breaking his vows and names him to his own Kingsguard . Although Jaime considers his assassination of Aerys as his greatest act, his motives for killing him remain unknown to the rest of the realm and he is given the insulting moniker "Kingslayer". </P> <P> Several years later, he and Tyrion rescue a young woman, Tysha, from outlaws, and Tyrion secretly marries her . When Tywin finds out he orders Jaime to tell Tyrion that he staged the incident in order for Tyrion to lose his virginity . Though it is unknown if Jaime was aware that Tywin subsequently forced Tyrion to watch Tysha be gang - raped by his guards, Jaime carries a great amount of guilt for his unkindness to Tyrion in his later years . </P> <P> In A Game of Thrones (1996), Jaime is introduced as one of the Kingsguard, the royal security detail, and the son of wealthy and powerful Tywin Lannister, the former Hand of the King . Jaime's twin is Cersei, the Queen of Westeros by virtue of her marriage to King Robert Baratheon . Perhaps the greatest swordsman in the kingdom, Jaime is sometimes derisively called "the Kingslayer" because he killed the "Mad King" Aerys Targaryen in the coup that put Robert on the Iron Throne . </P> <P> Eric Dodds of Time described Jaime as "handsome, an incomparably skilled fighter and disarmingly witty", with The New Yorker calling the Lannisters "a crowd of high - cheekboned beauties...who form a family constellation so twisted, charismatic, and cruel that it rivals Flowers in the Attic for blond dysfunction". Lev Grossman wrote for Time that while Jaime and Cersei's younger brother Tyrion is a grotesque dwarf, "the rest of the Lannisters are stunted too, but on the inside ." The Los Angeles Times called Jaime "handsome and unscrupulous", though Dodds noted in 2014: </P>

When did jaime lannister kill the mad king