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James I was King of Scots from 1406 until his assassination in 1437. The youngest of three sons, he was born in Dunfermline Abbey to King Robert III and Annabella Drummond. His eldest brother David, Duke of Rothesay, died under suspicious circumstances while detained by his uncle, Robert, Duke of Albany. James's other brother, Robert, died young. Concerns for James's safety deepened in the winter of 1405–1406 prompting plans to send him to France. In February 1406, James took refuge in the castle of the Bass Rock in the Firth of Forth after his escort was attacked by supporters of Archibald, 4th Earl of Douglas. He remained there until mid-March when he boarded a vessel bound for France. On 22 March, an English vessel captured the ship and delivered James to Henry IV of England. The ailing Robert III died on 4 April and the 11-year-old James, now the uncrowned King of Scotland, would remain in captivity for eighteen years. James was educated well during his imprisonment in England, where he was often kept in the Tower of London, Windsor Castle, and other English castles. He was generally well-treated and developed respect for English forms of governance. James joined Henry V of England in his military campaigns in France between 1420 and 1421. His cousin, Murdoch Stewart, an English prisoner since 1402, was traded for Henry Percy, 2nd Earl of Northumberland, in 1416. However, Albany refused to negotiate James's release. James married Joan Beaufort, daughter of the Earl of Somerset, in February 1424, shortly before his release in April. His return to Scottish affairs was not altogether popular due to his service to Henry V in France, sometimes against Scottish forces. Noble families faced increased taxes to fund the ransom payments, and to provide family hostages as security. James, who excelled in sports, literature, and music, aimed to impose law and order on his subjects but sometimes he applied such order selectively. To secure his position in the Scottish court, James launched pre-emptive attacks on some of his nobles beginning in 1425 with his close kinsmen, the Albany Stewarts. This led to the execution of Duke Murdoch and his sons. In 1427 James summoned the Highland clans to a sitting of parliament in Inverness and came in great numbers. There, James unscrupulously had some murdered, imprisoned others including Alexander, Lord of the Isles, along with his mother, Mariota, Countess of Ross. This betrayal effectively destroyed any peace he might have had with them. Archibald, 5th Earl of Douglas, was arrested in 1431, followed by George, Earl of March, in 1434. The fate of the hostages in England was ignored by Scotland's ruling elite and the repayment money was diverted into the construction of Linlithgow Palace and other schemes. In August 1436, James's siege of Roxburgh Castle failed, and he subsequently faced an ineffective attempt by Sir Robert Graham to arrest him at a general council. On the night of 20/21 February 1437, James was assassinated in Perth during a failed coup by his uncle Walter Stewart, Earl of Atholl. Queen Joan, though wounded, escaped the attackers and reached Edinburgh Castle to be reunited with her son, the new King James II.