Battle of Dan-no-ura
Yoritomo was the son of Minamoto no Yoshitomo and belonged to Seiwa Genji's prestigious Kawachi Genji family. After setting himself the rightful heir of the Minamoto clan, he led his clan against the Taira clan from his capital in Kamakura, beginning the Genpei War in 1180. After five years of war, he finally defeated the Taira clan in the Battle of Dan-no-ura in 1185. Yoritomo thus established the supremacy of the warrior samurai caste and the first "bakufu" (shogunate) at Kamakura, beginning the feudal age in Japan which lasted until the mid-19th century.