British Monarchy book suggestion?

Ive come to realise that although i know who was on the throne at most key stages of British history, I am woefully lax in the knowledge of who was related to who, how, and from which families etc etc.

Can anyone suggest a decent book, preferably free and for Kindle, that details the royal lineage, and houses etc? Ideally starting at about Elizabeth I, as i have a reasonable grasp of the lineage prior to that.

Essentially, I want to see how our royal family has been formed from other european houses down the centuries, in a way that helps me understand the intermarrying, and hence the tensions between european states related by royal marriage but politically diverse

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