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King Arthur Pendragon was a king of Britannia, a thousand winters into the future from when Hercules had his legendary journeys. After the death of his father, Arthur declared himself king. This would have been disastrous for Britannia, since Arthur was a spoiled tyrant. At Mab's urging, Arthur attempted to claim the legendary sword Excalibur to cement his rule. He was shocked to discover that Merlin had ensorcelled the sword to transport him back in time – although Merlin could not stop Arthur, he did have the means to send him to someone who could.
In the past, Arthur and Mab discovered that Hercules, assisted by Morrigan and a young Merlin, were hot on their trail. Arthur claimed Excalibur from the Lady of the Lake, but Mab seized it, intending to kill Merlin and become the most powerful sorceress in history. Through his interactions with Hercules and Morrigan, Arthur began to realize the error of his ways, and that he needed virtue as well as power to be a good king. Following Mab's defeat, Hercules destroyed the ancient throne of the British kings and plunged Excalibur into it, setting up the future and allowing Arthur to return to his own time.
In his present, Arthur was again confronted by Merlin. Confirming that he'd changed for the better, Arthur drew Excalibur from the stone and ushered in a new age. (HTLJ:"Once Upon a Future King")