Matilda was the only daughter of King Henry I and was adopted as the future Queen in 1127 by the Barons on the death of the heir William. When Henry died in 1135 she was denied the throne by Stephen of Blois. In 1139 she invaded England, establishing a stronghold in the west country, and captured Stephen in 1141.
Bibliography
England and its Rulers: 1066-1272, by MT Clanchy, at Amazon UK for £16.99
or Amazon USA for $32.95