Vegeta is the prince of all Saiyans

Bardock is Goku and Radditz father.
Old Gohan is Goku's father on earth.
Ox King is Chi chi's father

Chi chi is Goku's wife.
Son Gohan is Goku's son.
Son Goten is Goku's son.

Videl is Hercule Satan's daughter.
Videl is Gohan's wife.
Pan is Gohan's daughter.

Bulma is Dr. Brief's daughter.
Bulma is Vegeta's wife.
Trunks is Vegeta's son.
Bra is Vegeta's daughter.

Android #18 is Krillins wife.
Marron is Krillins daughter.

Android #18 is 17's twin sister.

Chaozu is a prince.
Tien is Chaozu's best friend.

Yamcha & Krillin are Goku's friends from DragonBall.

Master Roshi is martial arts teacher.