Palaemon was one of the many sons of Herakles. His mother was Iphinoe the daughter of Antaios and Tinge. After Herakles killed Antaios Herakles bedded Antaios' own daughter. From their coupling Iphione was impregnated with Palemon.
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Herakles also impregnated Tinge thus Palaemon's half-brother is also his uncle once removed.