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Sir Lancelot was a knighted character that appeared in the planet Earth's Human mythology of King Arthur.

He had an affair with Arthur’s wife, Queen Guinevere.

References to Lancelot in history were often used as a symbolic example of a heroic character. (TOS novel: The Rift)

A moon orbiting the gas giant Arthur was named Lancelot in his honor. Other moons were named Mordred and Guinevere. (TOS novel: The Galactic Whirlpool)

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In the novel The Final Reflection, the characters of Emanuel Tagore and Krenn had both read a long book about King Arthur. Tagore told Krenn he thought of himself as Lancelot, having sinned and looking for a miracle repentance. He felt he got one in efforts to maintain a balance of power between the Klingon Empire and Federation. (TOS novel: The Final Reflection)

Daniel Latham’s journal entry for December 13, 2267 compared his wife Helen Latham’s recent infidelity to that of Lancelot and Guinevere’s affair. (TOS novel: The Case of the Colonist's Corpse)

Lwaxana Troi ran a holosuite program in Quark's Bar of King Arthur’s Court. Being in a depressed state, she described the court as “love betrayed, dreams shattered,” referring to the affair. (DS9 episode: "The Muse")

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