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Milutin was the son of King Stefan Uroš I, who is remembered as the Venerable Simeon (Стефан Урош I-Блажени Симеон), and Queen Jelena, who is remembered as the Venerable Jelena of Serbia. He is the brother of King Stefan Dragutin, who is remembered as the Venerable Teoktist of Serbia. His son was the sainted King Stefan Uros III of Serbia.
Milutin fought many battles defending his Faith and his people. He fought against Emperor Michael VIII Palaeologus because Palaeologus accepted union with Rome and tried to force the Balkan peoples and the monks of Mount Athos to recognize the pope. He fought against Shishman, King of Bulgaria, and Nogai, King of the Tartars, in order to defend his lands. All his wars were successful, as he constantly prayed to God and trusted in God. He built more than forty churches. beside those that he built in his own land, including Treskavac, Gračanica, St. George in Nagoričino, the Church of the Holy Theotokos in Skoplje, and Banjska (his memorial foundation), he also built churches outside of his land, in Thessalonica, Sofia, Constantinople, Jerusalem and the Holy Mountain. He entered into rest in the Lord on October 29, 1320. His body was soon shown to be incorrupt and miracle-working. It reposes even today in the Church of the Holy King in Sofia, Bulgaria. Holy Synods of Churches of Serbia and Church of Bulgaria| Bulgaria]] announced that part of his sacred relics will be translated in Monastery of Banjska in 2007.