Shantanu adopts Kripa
Kripacharya was one of the gurus of the Kaurava and Pandava princes as well as many students who came to join the gurukul. Kripa’s twin sister, Kripi, married Drona, who was the famous guru of Arjuna. Here’s more about Kripa.
In the Kuru line of kings comes Hasti, who founded Hastinapura. One of his descendants is Mudgala and his daughter is Ahalya. Ahalya and Rishi Gautama’s great- grandson Saradvan is the father of the twin children Kripa and Kripi who are born in a clump of grass. This is why Kripa is often addressed as the descendent of Gautama.
The famous King Shantanu sees these babies when he is out hunting one day. He takes them home and brings them up as his own. He believed that he had been blessed by the Gods with these children, hence he named the boy Kripa. The girl was named Kripi.
Another connection from Mudgala to the story of the Kaurava- Pandava conflict that we know so well is this: Mudgala and his 4 brothers are the Panchalas. They are called so because they are five brothers ruling the five kingdoms. In the Panchala line, we see Drupada being born much later and to him, Shikandi, Dhristadyumna, Draupadi etc.