In 509 BC the Roman monarchy was overthrown as a result of general resentment at the behaviour of the king Tarquinius Superbus, and especially his son Sextus Tarquinius who had raped Lucretia, a Roman woman of noble background. A coup, led by Lucius Junius Brutus, resulted in the expulsion of the royal family. The Roman Republic was established, and consuls were elected to govern the city on an annual basis.Livy, Ab urbe condita, 1.58-60
