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The city of Troy is in ruins after the Trojan War. One of the survivors is the demigod Aeneas, who escaped with a Trojan fleet. He arrives at Carthage in North Africa, where the queen Dido asks him to tell his story. He begins by telling her about the Trojan Horse.

Aeneas tells Dido how he travelled on the Mediterranean Sea and visited Delos, where an oracle told him to find the "ancient mother". He decided to travel west.

After having heard Aeneas' story, Dido dismisses him. She is however fascinated by his search for the earth mother and cannot sleep. She tells him to go and find her in the land Hesperia, located in the north.

Aeneas finds a community of Trojan survivors on an island. Juno instigates the Trojan women to set fire to the fleet, but it is saved by rainfall.

Aeneas' mother Venus guides him to the underworld to receive strength from his father's shadow. The Trojans arrive at the Tiber in Latium, where a prophecy says that Lavinia, the daughter of the king Latinus, will marry a foreigner. Aeneas develops a bond with Turnus, king of the Rutuli.

After advice from Latinus, Aeneas visits the inland, where an old Greek man tells him legends. Intrigues involving Lavinia and Turnus stir up conflict between the Trojans and the Latins.

To solve the conflict, Aeneas challenges Turnus in single combat to the death. He wins and marries Lavinia. On his deathbed, Latinus bequeaths his land to Aeneas.