William I [The Conquorer] = m = Matilda of Flanders
b, 1028  d.1087 Rouen
king of England 1066-1087
total of 10 children, 6 girls 4 boys
 Adela = m = Stephen of Blois
b 1067  d. 1137
7 boys 5 girls
Robert
Duke of Normandy
lost Normandy to his brother Henry
b 1054 d. 1134
William [Rufus]
b1056 or 1060 d1100
  king 1087-1100
Henry [I]=Maude [also called Edith] of Scotland
b 1068, d 1135 [1 December, at Lyon-la-Foret]
king of England 1100-1135
Humbert
William
Theobald
Stephen = Matilda of Boulogne Henry
Bishop of Winchester
William [Clito]
b 1101, d 1128
Count of Flanders
20 known illegetimate children:  including:
Robert of Gloucester,   &
Rainald of Cornwall
others
William, b1098?
d 1120, drowned from shipwreck
*Maude=Geoffrey of Anjou
b 1100? d 1167
5 children
2 died, one became a nun
Eustace was the presumed heir but choked?
Robert had 3 children, Rainald had at least one son Henry,[II]=Eleanor of Aquitaine
b 1133, d. 1189

*Maude/Matilda married first the German, Heinrich V [Emperor of the "Holy Roman Empire" which was neither Roman nor really Holy, but comprised  parts of what are now modern Germany, Poland, Czechoslovakia, Switzerland, and Hungary.    There was probably one son, who died shortly after birth, from that union.  She was forced by her father, Henry, to marry Geoffrey, who was at least 5 years younger than she.

Eleanor of Aquitaine was around 9 years older than Henry, and married him about 6 months after her divorce from Louis of France.  She had 2 daughters by Louis, and 8 children, 5 of them sons, by Henry.  The sons were: William, born soon after their marriage, and died young; Henry, who was crowned as heir, rebelled and was killed; Richard [Lionheart], Geoffrey also killed during revolution; and John [Lackland] who survived long enough to become king and sire the next king. Eleanor outlasted Henry II, and Richard [the Lionheart] and died in the reign of her son John.

I would like to thank Brian Tomsett for the work he has done on royal geneologies for some of this information
go to his page on Geneologies: http://www.dcs.hull.ac.uk/public/genealogy/royal/