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Greco-Roman tradition

In Greek mythology, Zeus (the king of the gods, known as Jupiter in Roman mythology) lusts after a young woman named Callisto, a nymph of Artemis (known to the Romans as Diana). Zeus's jealous wife Hera (Juno to the Romans) discovers that Callisto has a son named Arcas as the result of her rape by Zeus and transforms Callisto into a bear as a punishment. Callisto, while in bear form, later encounters her son Arcas. Arcas almost spears the bear, but to avert the tragedy Zeus whisks them both into the sky, Callisto as Ursa Major and Arcas as the constellation Boötes. Ovid called Ursa Major the Parrhasian Bear, since Callisto came from Parrhasia in Arcadia, where the story is set.

The Greek poet Aratus called the constellation Helike, ("turning" or "twisting"), because it turns around the celestial pole. The Odyssey notes that it is the sole constellation that never sinks below the horizon and "bathes in the Ocean's waves", so it is used as a celestial reference point for navigation. It has also been called the "Wain" or "Plaustrum", a Latin word referring to a horse-drawn cart.