Pandavas and Kauravas are ‚Good‘ and ‚Bad‘ in the Mahabharata.
Shakti, a son of sage Vasishtha, and Adrishyanti were the parents of Parasara.
King Uparichara and the apsara Adrika (as a fish) were the parents of Satyavati.
Parasara und Satyavati fathered Vyasa out of wedlock.
Shantanu and Satyavati were married, they are the parents of Chitrangada and Vichitravirya.
Chitrangada was unmarried and childless. He was killed.
Vichitravirya was married with Ambika and Ambalika, childless, he died young.
Satyavati asked Vyasa to father an heir apparent with the two widows (Niyoga).
with Ambika Dhritarashtra – his 100 sons are the Kauravas.
with Ambalika Pandu – his 5 sons are the Pandavas – Yudhishthira, Bhima, Arjuna, Sahadeva, Nakula.
with Ambika’s maid Sudri, Vidura.
In 16 chapters the Mahabharata is told from Bharata to Pandu. The link is the first chapter. All chapters are found in June 2016.