How was Scipio Africanus the Younger related to Lucius Aemilius Paullus Macedonicus?

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Scipio Africanus the Younger was the biological son of Lucius Aemilius Paullus Macedonicus.12

Born into the family of Aemilius Paullus, he was later adopted by Publius Cornelius Scipio, the son of Scipio Africanus the Elder. Despite this adoption, he maintained a close relationship with his natural father, serving under him during the Third Macedonian War, including at the Battle of Pydna.2