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The city flourished under Stefan Lazarević, son of Serbian prince Lazar Hrebeljanović.

Lazarević built a castle with a citadel and towers, of which only the Despot's tower and west wall remain.

For about four centuries, the city remained a battleground between the Byzantine Empire, the Kingdom of Hungary and the Bulgarian Empire. 1276–1282) received Belgrade from his father-in-law, Stephen V of Hungary in 1284; it served as the capital of the Kingdom of Syrmia, and Dragutin is regarded as the first Serbian king to rule over Belgrade as a vassal to the Kingdom of Hungary.

The north resisted through the Serbian Despotate, which had Belgrade as its capital.

One of the most important prehistoric cultures of Europe, the Vinča culture, evolved within the Belgrade area in the 6th millennium BC.