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http://en.wikipedia.org/wiki/Adelaide_of_Normandy

Adelaide of Normandy (c. 1026 in Calvados, France[citation needed] - c. 1090) was the sister or half-sister of William the Conqueror.
She was the daughter of Robert the Magnificent, Duke of Normandy. Her mother was probably William the Conqueror's mother Herleva, although this is not certain. [1]
Adelaide married three times; first Enguerrand II of Ponthieu (died 1053) by whom she had issue; second Lambert II, Count of Lens (died 1054); and third Odo II of Champagne son of the Count of Troyes. By Lambert she had a daughter, Judith of Lens, who married Waltheof, Earl of Northumbria (executed 1076). Their daughter, Maud, 2nd Countess of Huntingdon, took for her second husband King David I of Scotland.
She gained the title of Princess when William the Conqueror became King of England[verification needed]