Excerpts from Books and Wikipedia
In the history of Japan in the twelfth century, two clans of samurai warriors were rivals for control of the imperial court at Kyoto: the Taira and the Minamoto. The Taira were driven out of Kyoto in 1183. [Furtado: 1001 Days] "Minamoto no Yoritomo (…) was the founder and the first shogun of the Kamakura shogunate of Japan, ruling from 1192 until 1199. . . .After setting himself the rightful heir of the Minamoto clan, he led his clan against the Taira clan from his capital in Kamakura, beginning the Genpei War in 1180. After five years of war, he finally defeated the Taira clan in the Battle of Dan-no-ura in 1185. Yoritomo thus established the supremacy of the warrior samurai caste and the first bakufu (shogunate) at Kamakura, beginning the feudal age in Japan which lasted until the mid-19th century." [Wikipedia]