The Norman invasion of Wales began shortly after the Norman conquest of England under William the Conqueror, who believed England to be his birthright. Initially (1067–1081), the invasion of Wales was not undertaken with the fervour and purpose of the invasion of England. However, a much stronger Norman invasion began in 1081 and by 1094 most of Wales was under the control of William's son and heir, the later King William II. The Welsh greatly disliked the "gratuitously cruel" Normans and by 1101 had regained control of the greater part of their country under the long reign of King Gruffudd ap Cynan, who had been imprisoned by the Normans for twelve years before his escape. Gruffudd had some indirect help from King Magnus III of Norway (Magnus Barefoot) who attacked the Normans briefly off