David is a possible inspiration figure for the Robin Hood legend because the legend plays at the same time as David lived in the 1190s.
The medieval title (1065 creation) was associated with the ruling house of Scotland (David of Scotland).
The king's Knaresborough Castle and Appleby Castle were in his custody in April 1174, when they were captured by David of Scotland, Earl of Huntingdon.
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In actual history, David of Scotland was Earl of Huntingdon throughout Richard's reign, succeeded by his son John.
Robert de Brus Lord of Skelton in the Cleveland area of Yorkshire, was a notable figure at the court of King Henry I of England, where he became intimate with Prince David of Scotland, that monarch's brother-in-law.
Margaret of Huntingdon, Lady of Galloway (1194-aft.1233) daughter of David of Scotland, 8th Earl of Huntingdon and Maud of Chester; wife of Alan, Lord of Galloway
Matilda of Chester, Countess of Huntingdon (1171-1233), the wife of Prince David of Scotland; sometimes referred to as Maud and sometimes known with the surname de Kevelioc