The state of Prussia had its origins in the separate lands of the Margraviate of Brandenburg and of the Duchy of Prussia. The Margraviate of Brandenburg developed from the medieval Northern March of the Holy Roman Empire, passing to the House of Hohenzollern in 1415. The Duchy of Prussia originated in 1525 when Albert of Brandenburg-Ansbach, a member of a cadet branch of the Hohenzollerns, secularized the eastern lands of the Teutonic Knights as a Polish fief. Prince-elector John Sigismund, Elector of Brandenburg, inherited the Duchy of Prussia in 1618, thus uniting Brandenburg and Prussia under one ruler in a personal union; the Elector's state became known as Brandenburg-Prussia. The Kingdom of Prussia formed when Elector Frederick III assumed the title of Frederick I, King in Prussia, o