Queen of Saxland Ulla Sigmundrsdotter, {Legendary}

Wanting a spouse, Helgi went to the Saxons wanting to woo their warlike queen Oluf. She was, however, not interested and humiliated Helgi by shaving his head and covering him with tar, while he was asleep, and sending him back to his ship. Some time later, Helgi returned and through a ruse, he kidnapped the queen for a while during which time he made her pregnant.

Having returned to her kingdom, the queen bore a child, a girl which she named Yrsa after her dog. Yrsa was set to live as a shepherd, until she was 12 years old, when she met her father Helgi who fell in love with her, not knowing it was his daughter. Oluf kept quiet about the parentage and saw it as her revenge that Helgi would wed his own daughter. Helgi and Yrsa had the son Hrólfr Kraki (Hroðulf).

For his share of the kingdom Hróarr had been given a precious ring, an heirloom. There was, however, a second relative who wanted his share, their nephew Hrókr. Since Hrókr was neither given a part of the kingdom nor the ring, he went to Northumbria, killed Hróarr and threw the ring into the water (later retrieved by Hróarr's son Agnar). Helgi avenged his brother by cutting off Hrókr's arms and legs.

Learning that Helgi and Yrsa lived happily together, queen Oluf travelled to Denmark to tell her daughter the truth. Yrsa was shocked and although Helgi wanted their relationship to remain as it was, Yrsa insisted on leaving him to live alone. She was later taken by the Swedish king Aðils (Eadgils) as his queen, which made Helgi even more unhappy.

http://en.wikipedia.org/wiki/Halga

https://en.wikipedia.org/wiki/Halga