Barra was a bastard baby girl born to an unnamed fifteen year old prostitute in Chataya's Brothel in King's Landing. Her mother named her in honor of the baby's biological father, King Robert I Baratheon.
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A Game of Thrones[]
When Eddard Stark is wounded, Cersei Lannister claims that he was drunk and coming from a brothel when he attacked Jaime. Lord Eddard tells them that he only went to see the baby. Later, when he is asked by Robert to swear to be a father to Robert's children, it is Mya Stone, Gendry, and Barra who Eddard thinks of as he takes the oath. However, as he talked of Barra in front of Cersei, she sent Gold cloaks to kill her as well as all of Robert's other bastards after he dies. Barra's mother tries to stop the Gold cloak named Allar Deem from killing the baby, and so she died as well.