Here's an extract from my book On This Day in Tudor History:
On this day in history, 28th January 1457, Henry VII, or Henry Tudor, was born at Pembroke Castle in Wales. His parents were Edmund Tudor, 1st Earl of Richmond and son of Owen Tudor and Catherine of Valois, and his thirteen-year-old wife, Margaret Beaufort, great-granddaughter of John of Gaunt, 1st Duke of Lancaster, and his mistress (and later wife) Katherine Swynford. It was through this Beaufort side going back to John of Gaunt that Henry VII derived his claim to the throne of England, and he became King after defeating Richard III and his troops at the Battle of Bosworth on 22nd August 1485. He ruled for over 23 years.
Also, on this day in history, 90 years later, in the early hours of 28th January 1547, Henry VII's son and successor, Henry VIII, died at Whitehall Palace. He had been ill for some time and had made amendments to his will at the end of December. In early January, De Selve and La Garde, the French ambassadors reported to Francis I that Henry was ill, but that he was well enough to meet with ambassadors on 16th January. However, on 27th January, the King was too ill to attend the commission which agreed on the Duke of Norfolk's attainder, and it became clear that he was dying. His doctors were afraid to tell the King that the end was near, for fear that they’d be accused of treason, so Henry's good friend Sir Anthony Denny broke the news to the King. Henry asked for Archbishop Cranmer and then slept for a few hours. By the time Cranmer arrived, the King was unable to speak, but when the Archbishop asked him to give a sign that he trusted in God, the King was able to squeeze his hand. He lapsed into unconsciousness and died in the early hours. He had been King for over thirty-seven years, and his iconic portrait is recognised by people all over the world, who either love him or hate him.
Henry VIII's nine-year-old son, Edward, inherited the throne and became King Edward VI.
Here are links to read more about these three kings: