Iolaus
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In Greek mythology, Iolaus was a son of Iphicles and thus a nephew of Heracles. He often acted as Heracles' charioteer and companion, and is sometimes said to have also been Heracles' eromenos (lover). When Heracles was having trouble slaying the Hydra because of the regeneration of its many heads, Iolaus cauterized each neck as Heracles beheaded it, and enabled the Hydra to be killed. Heracles married his ex-wife Megara to Iolaus when the sight of her caused him to remember his fitful murder of their two children.
After Deianeira killed Heracles, believing he was having an affair with Iole, Iolaus lit Heracles' funeral pyre. Note: sometimes, this was Philoctetes instead.