Born during the reign of King Calimehtar of Gondor, Fíriel was the daughter of Calimehtar's heir Ondoher, and was the youngest of Ondoher's three children. Soon after her birth, King Calimehtar led out an army to defeat the Wainriders, and his victory weakened that old enemy of Gondor. After this victory, there were no further attacks from the East during Calimehtar's reign, but the later return of the Wainriders would play an important part in Fíriel's life.
King Calimehtar died in III 1936, when Fíriel was approximately forty years old, and her father became King in his stead. Ondoher was keen to renew ties with the North-kingdom, and in III 1940 he brokered a marriage between Fíriel and Arvedui, the heir to the Kingship of Arthedain in the North. Fíriel thus departed from Gondor and went to dwell with the royal court at Fornost in the northern lands. In the years that followed, she would bear at least two sons, with the eldest, Aranarth, being Arvedui's heir.
Four years later, the Wainriders attacked Gondor again, and the results were devastating. Having allied themselves with the peoples of Khand and Near Harad, they marshalled two distinct forces to launch a dual assault. Fíriels' father Ondoher led out his armies to meet the challenge, but was slain. Fíriel's brothers Artamir and Faramir were both also lost in the fighting and so, though the Wainriders were ultimately repulsed, the battle left Gondor without a clear heir to the throne.
It had not been tradition for daughters to inherit the rule of Gondor, but they had formerly done so in Númenor, and so Fíriel had at least some claim to the Gondorian throne. This point was made by her husband Arvedui, who used Fíriel's ancestry, and his own descent from Isildur, to make a claim of his own. The Council of Gondor considered and rejected Arvedui's petition, choosing instead to give the Crown of Gondor to Eärnil, the general who had defeated the invaders.
After this time, Fíriel fades from history, and we have no account of her later life and fate. Her husband became King of Arthedain in III 1964, and at that time Fíriel would presumably have become Queen, but Arvedui's reign did not last long. Just ten years later, the city of Fornost was overrun by Angmar, and the realm of Arthedain came to an end. Arvedui escaped alone into the icy North, but the fate of his queen is not recorded. Perhaps she died in the invasion, but we know that at least her son Aranarth survived and was given aid by the Elves, so perhaps Fíriel also escaped to live among the Eldar for a time.
Though the Northern Dúnedain were diminished after this time, Fíriel's son Aranarth would become the first Chieftain of the Dúnedain, and his line would continue to the end of the Third Age. Through that line, Aragorn was a direct descendant through many generations of Fíriel of Gondor, which was an important factor in reinforcing his own right to the Kingship of Gondor.
Notes
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We have only limited dating information for Fíriel. Specifically, we know the date of her wedding to Arvedui, III 1940, and we can also be sure that she was alive four years later because, after the deaths of her two brothers in battle, she is specifically recorded as the only surviving child of her father Ondoher.
We know the dates of birth of her brothers (Artamir was born in III 1892 and Faramir in III 1895) so Fíriel would have been born at around this time (a draft text in volume XII of The History of Middle-earth gives the date as III 1896). After III 1944, she is never mentioned again (though we can be sure that she did not escape into the far North with her husband Arvedui). She may have been slain when Fornost was captured by the Witch-king in III 1974. We know, however, that her sons survived that attack and escaped to Lindon, so it is at least equally plausible that Fíriel also made her escape, and lived out the rest of her long life among the Elves. Members of the Royal House of Gondor in this period tended to live for about two centuries and so, if she did escape the fall of Fornost, Fíriel would have lived until very approximately III 2100.
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The origins of Fíriel's name seem to be poetic, rather than conveying anything specific about her life or nature. The name Fíriel had legendary associations with both Míriel Serindë (who gave up her spirit after the birth of her son Fëanor) and Lúthien (who literally died and returned to life).
The name Fíriel found its way into a rhyme known in the Shire, "The Last Ship" (which forms part of the collection titled The Adventures of Tom Bombadil). That poem tells of a princess named Fíriel watching an Elven-ship depart into the West (presumably at least partly inspired by Fíriel the queen, who came to the Northern Kingdom from Gondor). The name of the princess in the poem would, in turn, be given to at least one Hobbit, Fíriel the daughter of Elanor Gamgee (and thus Sam Gamgee's granddaughter).
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Put more simply, Fíriel was Queen of Arthedain. At least, she presumably held that title, though its use is not specifically recorded.
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