Lithuania has a rich history of rulers, beginning with the Grand Duchy of Lithuania in the 13th century. The Grand Duchy was established by Mindaugas, who became the first and only King of Lithuania. Over the centuries, the Grand Duchy expanded its territory, becoming one of the largest countries in Europe by the 15th century. The rulers of Lithuania were often part of the Jagiellonian dynasty, which included notable figures like Jogaila, who united Lithuania and Poland through marriage. The Grand Duchy eventually entered a union with the Kingdom of Poland, leading to the formation of the Polish-Lithuanian Commonwealth in 1569, which lasted until the late 18th century.