In ''
Hrólfr Kraki's saga'', Halfdan (
Healfdene) had three children, the sons
Helgi and Hróarr (
Hroðgar) and the daughter Signý. The sister was the eldest and married to Sævil Jarl, with whom she had the son Hrókr. Halfdan was murdered by his own brother Fróði (
Froda) and the two brothers had to seek refuge with a man called Vivil on an island, until they could avenge their father and kill Fróði. Hróarr moved to
Northumbria and married king Norðri's daughter Ögn, whereas Helgi became the new king of Denmark, but stayed unmarried. Wanting a spouse, Helgi went to the
Saxons to woo their warlike queen Oluf. She was, however, not interested and humiliated Helgi by shaving his head and covering him with tar while he was asleep, and sending him back to his ship. Some time later, Helgi returned and through a ruse, he kidnapped the queen for a while during which time he got her pregnant. Having returned to her kingdom, the queen bore a child, a girl whom she named
Yrsa after her dog. Yrsa was set to live as a shepherd until she was 12 years old, when she met her father Helgi, who fell in love with her, not knowing it was his daughter. Oluf kept quiet about the parentage and saw it as her revenge that Helgi would wed his own daughter. Helgi and Yrsa had a son, Hrólfr Kraki (
Hroðulf). For his share of the kingdom, Hróarr had been given a precious ring, an heirloom. There was, however, a second relative who wanted his share, their nephew Hrókr. Since Hrókr was given neither a part of the kingdom nor the ring, he went to Northumbria, killed Hróarr and threw the ring into the water (later retrieved by Hróarr's son Agnar). Helgi avenged his brother by cutting off Hrókr's arms and legs. Learning that Helgi and Yrsa were living happily together, Queen Oluf travelled to Denmark to tell her daughter the truth. Yrsa was shocked and although Helgi wanted their relationship to remain as it was, Yrsa insisted on leaving him. She was later taken by the Swedish king Aðils (
Eadgils) as his queen, which made Helgi even more unhappy. Later, one
Yule, Helgi was visited by
an ugly being while he was in his hunting house. No person in the entire kingdom would allow the being to enter their house, except Helgi. Later, the thing asked to sleep in his bed. Unwillingly he agreed, and as the thing got into bed, it turned into an
elvish woman, who was clad in silk and who was the most beautiful woman he had ever seen. He raped her, and made her pregnant with a daughter named
Skuld. Helgi forgot the woman and a couple of days after the date had passed, he was visited by the woman, who had Skuld in her arms. The daughter would later marry Hjörvarðr (
Heoroweard), Hrólfr Kraki's killer. Missing Yrsa, Helgi went to
Uppsala to fetch her, but was killed by Aðils in battle. He was succeeded by his son Hrólfr. ==
Skjöldunga saga and
Bjarkarímur==