Question: are ned and robert related?
Answer: Lyanna and her father Lord Rickard Stark with Robert Baratheon. Robert was the first son of Steffon Baratheon and Cassana Baratheon, and had two younger brothers, Renly and Stannis. ... Eddard Stark, the second son of House Stark, was also fostered by Jon Arryn and Robert and Eddard became as close as brothers.