How was Scipio Africanus the Younger related to Scipio Africanus the Elder?

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Scipio Africanus the Younger was not the biological son of Scipio Africanus the Elder. He was the biological son of Lucius Aemilius Paullus Macedonicus, but he was adopted by Publius Scipio, who was the son of Scipio Africanus the Elder. Through this adoption, he became the grandson of Scipio Africanus the Elder and succeeded to the family tradition of two of Rome's greatest generals.1