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There are two different, but compatible, legends regarding the origin of the people of Ethiopia.

Queen Sheba

Queen of Sheba's Palace

Rock hewn reservoir known as Queen of Sheba's

The first legend says that Cush, who was the son of Ham and grandson of Noah, first entered Ethiopia and settled there.

A much later legend, with a strong hold in the minds of Ethiopian Orthodox Christians is that of the Queen of Sheba, who went to Jerusalem around 1000 BC to visit King Solomon and to learn his wisdom. According to this legend, King Menilik I was born from King Solomon and Queen of Sheba. He is attributed with founding the Solomon Dynasty and with bringing the Ark of the Covenant from the Temple in Jerusalem. Most Ethiopians believe that the Ark of the Covenant still dwells in Church of Mary of Zion in Axum, Tigray. His dynasty was believed to have been continuous, with only a brief interruption between the 9th and 13th centuries, until it was finally dissolved in 1974.

Actually, Ethiopia has been a country with a continuous monarchical dynasty for centuries.