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In all versions of the founding myth, the twins grew up as shepherds. They came into conflict with the shepherds of Amulius, leading to battles in which Remus was captured and taken to Amulius, under the accusation of being a thief. Their identity was discovered. Romulus raised a band of shepherds to liberate his brother; Amulius was killed and Romulus and Remus were conjointly offered the crown. They refused it while their grandfather lived, and refused to live in the city as his subjects. They restored Numitor as king, paid due honours to their mother Rhea and left to found their own city, accompanied by a motley band of fugitives, runaway slaves, and any who wanted a second chance in a new city with new rulers.

The brothers argued over the best site for the new city. Romulus favoured the Palatine Hill; Remus wanted the Aventine Hill. They agreed to select the site by divine augury, took up position on their respective hills and prepared a sacred space; signs were sent to each in the form of vultures, or eagles. Remus saw six; Romulus saw twelve, and claimed superior augury (foresight) as the basis of his right to decide.

Remus made a counterclaim: he saw his six vultures first. Romulus set to work with his supporters, digging a trench (or building a wall, according to Dionysius) around the Palatine to define his city boundary. Remus criticized some parts of the work and obstructed others. At last, Remus leaped across the boundary, as an insult to the city's defenses and their creator. For this, he was killed. The Roman ab urbe condita begins from the founding of the city, and places that date as 21 April 753 BC.