The Centaurs were the offspring of Ixion, the king of Lapithae (Thessaly), and the rain cloud Nephele. Their head, arms and torso had the human shape and their lower part was that of a horse. Their diet was adjusted according to their physical shape.

The Centaurs were mainly living on the mount Pelion in Thessaly. With only few exceptions, such as Cheiron, the Centaurs were lawless, aggressive creatures and were usually drunk.

There was a time when the Centaurs got involved in a struggle with the Lapiths, known as "Centauromachy", when trying to intrude and cause trouble during the wedding feast of the Lapiths' King Peritheios with Ippodameia. Because of the Centauromachy, the Centaurs were expelled from Thessaly.