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Cerberus is Hades' three-headed dog. He is one of the children of Echidna and Typhon. He guards the entrance to the Underworld to keep any of the dead from escaping and any of the living from entering. He once escaped from his post and Hercules to keep any of the dead from escaping and any of the living from entering.
He once escaped from his post and Hercules went to the Underworld to find him and get him back where he belonged Hercules encountered Cerberus again when the hero was sneaking into Hades' castle to rescue Persephone. Cerberus recognized him and allowed him to pass without incident.