King Agrippa - Jewish (37-44) Marcus Vipsanius Agrippa was a boyhood friend of Augustus and a renowned military commander on land and sea, winning the famous battle of Actium against the forces of Marcus Antonius and Cleopatra. Declared Augustus' successor, Agrippa's brilliant career ended when he predeceased Augustus in 12 B.C. He was married to Augustus' daughter Julia; father of Gaius and Lucius Caesars, Agrippa Postumus, Julia and Agrippina Senior; grandfather of Caligula, and great-grandfather of Nero.