How did William I become duke of Normandy in 1035?

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William I became duke of Normandy in 1035 following the death of his father, Robert I, who died while returning from a pilgrimage to Jerusalem.1

Before his departure, Robert I had nominated William as his heir. Upon Robert's death, the young William was accepted as duke by the Norman magnates and by his overlord, King Henry I of France. Because he acceded to the title as a child and faced questions regarding his illegitimacy, his early reign was marked by significant instability and internal conflict within the duchy.1