Palaemon was one of the many sons of Herakles.  His mother was Iphinoe the daughter of  Antaios and Tinge.  After Herakles killed Antaios Herakles bedded Antaios' own daughter.  From their coupling  Iphione was impregnated with Palemon.

Parents

Iphinoe & Herakles

Trivia

Herakles also impregnated Tinge thus Palaemon's half-brother is also his uncle once removed. 

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