The Roman hero who was the son of Venus and founded the Roman people according to myth was Aeneas.
Aeneas was a Trojan prince, the son of the goddess Venus and the mortal Anchises. In Roman legend, he escaped the destruction of Troy and traveled west with fellow survivors, eventually reaching Italy. There he allied with King Latinus and married Latinus’s daughter, Lavinia.
Aeneas founded Lavinium, while his son Ascanius was said to have founded Alba Longa. The kings of Alba Longa formed the ancestral line that eventually produced Romulus and Remus, linking Aeneas to Rome’s later foundation story. Virgil gave this tradition its most influential literary form in the Aeneid.
Aeneas did not directly found the city of Rome in the standard Roman myth. That role belongs to Romulus, who founded Rome with his brother Remus in the traditional account. Aeneas is instead the legendary ancestor of the Roman people and their ruling lineage.