Brave Cloelia by Jane Louise Curry - Long been one of our favorite picture books, the story of Cloelia, a young Roman hostage whose fearlessness and cleverness made her a national heroine, comes from Livy.
A Triumph for Flavius by Caroline Dale Snedeker - a short tale from the time Rome's heyday, this story could be easily read by my eight yer old. However, when I read it aloud, everyone - from the 4 to the 12 year old - listens in.
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City of the Golden House by Madeline Polland - I haven't finished this book yet, but what I've read is SO good. The young and lame Diomedes and his British slave, Gretorix, are curious to learn more about the new sect of Christians, and the rumored healings of one Peter, but times are dangerous in Nero's Rome.
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In Search of a Homeland: The Story of the Aeneid by Penelope Lively - this description of the Aenied from Wikipedia pretty much sums it up: Virgil took the disconnected tales of Aeneas' wanderings...and fashioned [them] into a compelling founding myth or national epic that at once tied Rome to the legends of Troy, explained the Punic wars, glorified traditional Roman virtues and legitimized the Julio-Claudian dynasty as descendants of the founders, heroes and gods of Rome and Troy. Livey's version is easily understood and enjoyed by both young children and adults.