Satyavati and Parasara fathered Vyasa out of wedlock.
Married she was with Shantanu. Their sons are Chitrangada and Vichitravirya. When they died childless, she asked Vyasa to father an heir to the throne with her daughters-in-law, Ambika and Ambalika.
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.