Now that she was Empress of Rome, Agrippina set about doing what she did best - getting stuff Done.
The death of her brother Caligula brought Agrippina back from exile, but she wasn't out of the woods yet.
Agrippina Minor was born into the most richest, most august family's in Rome. And her childhood totally sucked.
On Saturday 19 May, Meghan Markle will become a member of the royal family of the UK and 15 other countries. It will be a great occasion, but how does it rank against royal weddings of the past? Is she the first bi-racial woman to marry a prince? Is she the first divorcee? Does she wanna be like Grace Kelly? All will be revealed.
The introductory footage from the weddings of: Princess Elizabeth and Philip, Princess Margaret, Princess Anne and Mark Philips, Prince George and Diana Spencer, and Prince William and Kate Middleton.
Messalina, along with her husband and friends in the Imperial administration led a period of repression to suppress the threat of revolts. Oh also she slept with everyone. But also the politics. Shockingly, this policy was destined to bite her in the behind.
Messalina became Empress of Rome after the assassination of Caligula and his family, and quickly secured her position by giving birth to a son. But she had rivals that needed to be moved on.
Somewhere deep in the recesses of the world there is a list of the world's crappiest husbands. Caligula is on that list, and four women: Junia Claudilla, Livia Orestilla, Lollia Paulina and Milonia Caesonia were about to find that out.
The reign of Tiberius is most frequently described as being one of cruelty, depravity and neglect, but in actual fact, there was one elderly woman who was helping to keep it all together. Livia had quite a lot on her hands in her final years of life.
As Augustus final years, Livia took steps to make sure her son Tiberius took the throne.
Augustus's reign was overshadowed by his inability to secure the succession and problems within his own family. Heir after heir fell by the wayside. But was there a snake in the grass?
Audio credit: "What Shall We Do About Claudius" I, Claudius, BBC, 1976
Born into one of Rome's most noble families, Livia was married to a man below her station and who made terrible decisions - but she would soon catch the eye of the most powerful man in Rome.
Ancient Rome was a highly patriarchal place - but did it mean to be a woman in that society? How were they viewed at the time? And what happened when they tried to become powerful?