Tuor, a man, and Idril, an elf, had a child named Eärendil. He wed Elwing (who was part elf, part Maia, and part man) and they had two children, Elrond and Elros.
Elrond was half-elven, and was given the choice...man or elf?
He chose to be an elf, but his brother, Elros, chose to be a man.
Elros was made the first king of Numenor and lived the longest of any man. Elros' line continued down to the fall of Numenor with Ar-Pharazôn attempting to sail to Aman. Elendil came to Middle-earth and ruled the two kingdoms. The line of kings was continued after his fall by Elendil. Elendil's ancestry traces back to Silmarien, the sister of Tar Meneldur, who was king four generations after Elros.
Elendil's son, Isildur, took the throne after his father died in battle with Sauron. Isildur died in the Disaster of Gladden Fields, but his youngest son, Valandil kept the line alive.
Unfinished Tales:
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Elessar was according to the records of the Dúnedain the descendant in the thirty eighth degree of Elendur's brother Valandil.
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Aragorn can thus be traced back through Valandil, Isildur, and Elendil all the way to Elros, who was half-elven.
Or if you got, like, way confused...
Aragorn's ancestry can be traced back to Elros, Elrond's brother, who is half-elven.
[ August 15, 2002: Message edited by: Legalos ]