A centaur (/ˈsɛntɔːr/; Greek:Κένταυρος, Kéntauros, Latin:centaurus), or occasionally hippocentaur, is a mythological creature with the upper body of a human and the lower body of a horse.

The centaurs were usually said to have been born of Ixion and Nephele (the cloud made in the image of Hera). Another version, however, makes them children of a certain Centaurus, who mated with the Magnesian mares. This Centaurus was either himself the son of Ixion and Nephele (inserting an additional generation) or of Apollo and Stilbe, daughter of the river god Peneus. In the later version of the story his twin brother was Lapithes, ancestor of the Lapiths, thus making the two warring peoples cousins.