Who accompanied Lewis Carroll and the Liddell children on the 1862 boat trip?

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On the boat trip that took place on July 4, 1862, Lewis Carroll (whose real name was Charles Lutwidge Dodgson) was accompanied by his friend Robinson Duckworth, a fellow of Trinity College, along with the three Liddell children. During this excursion from Oxford to Godstow, Dodgson told the children the story that would eventually become Alice’s Adventures in Wonderland.1