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He married Anne of Scotland in 1576 and had five children:
- King Robert I of England (1577 - 1619)
- Queen Mary of Spain (1579 - 1642), married Philip III of Spain
- Queen Anne of Sweden (1580 - 1628), married Charles IX of Sweden
- Prince James of England (1582 - 1589)
- Duchess Charlotte of Brunswick-Lüneburg (1583 - 1647), married Ernest II, Duke of Brunswick-Lüneburg