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Tipi was born to Mufasa and Sarabi, long before Simba was born. She was raised to be future queen, with Mufasa as her tutor.
When she was a young teen, Sarabi was pregnant with Simba, who was revealed to be a boy by Rafiki. Seeing how her father always wanted a boy, she left the pride at night, leaving her brother in the spot of the next ruler.
Tipi wandered for many days, and eventually found a small territory near her home. She claimed it, and called it the Northern Border Pride. She died at the time when Simba became king.