Under Augustus, Rome began to invade Germania. In 9 AD, three Roman legions were defeated by Arminius. By 100 AD, when Tacitus wrote "Germania", Germanic tribes had settled along the Rhine and the Danube (the Limes Germanicus), occupying most of modern Germany. However, Baden Württemberg, southern Bavaria, southern Hesse and the western Rhineland had been incorporated into Roman provinces. Around 260, Germanic peoples broke into Roman-controlled lands. After the invasion of the Huns in 375, and with the decline of Rome from 395, Germanic tribes moved farther southwest: the Franks established the Frankish Kingdom and pushed east to subjugate Saxony and Bavaria, and areas of what is today eastern Germany were inhabited by Western Slavic tribes.