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For more on marking an answer as the "Best Answer", please visit our FAQ.Matilda, with husband Geoffrey, was unimpressed and the result was an on-off civil war in pursuit of her crown. It's a drawn-out affair. In 1141, Matilda defeats Stephen at the Battle of Lincoln. She took the crown that April, but by September her forces were defeated at Winchester.
However, the stand-off between the competing royals lasted until Matilda, shorn of support, returned to Normandy in 1148.
Her son Henry, having succeeded to the Anjou title on the death of Geoffrey, took up the challenge and, having married Eleanor of Aquitaine, invaded England in 1154. He quickly gained important supporters and Stephen recognised Henry as his heir following the death of Stephen's son Eustace (imagine - King Eustace!!)
Stephen promptly died the followiong year, and Matilda's son became King Henry II - ruling until 1189. Matilda never returned to England, as far as I can tell, and died in Rouen in 1167. Thwarted by her gender, I suppose - and though she held the country for a few months not recognised now as a monarch or true Queen of England.