Voice Reference, if needed: https://www.youtube.com/watch?v=wgm3XYWjxGQ (3:53)
Penelo is a playable character in Final Fantasy XII. She is Vaan's childhood friend and dreams of being a dancer, and has learned martial arts from her elder brothers. Following an encounter with an attractive sky pirate and the misunderstanding it causes, Penelo becomes involved in a world-scale conflict that could determine the fate of Ivalice.
As Vaan's close friend, Penelo acts as the "careful side" of his reckless persona and often tries to appeal to his common sense, but without a desirable effect. She is one of the many orphans in Rabanastre and was taken under the wing of Migelo and helped him since then. Due to the war taking the lives of her parents, she lives in fear of the Archadian Empire, but Penelo overcomes her fear because of her unlikely friendship with Larsa Solidor, a member of the family that rules the Empire. Penelo, together with Vaan, acts as a humanizing element representing the common folk caught in the crossfire of international conflict. Looking to Vaan and Penelo keeps Ashe grounded and able to resist the temptations of the Occuria, and looking to Penelo helps make Larsa sympathetic to the Dalmascan plight.
The official Brady Games strategy guide refers to Vaan and Penelo, "like brother and sister". In Final Fantasy XII: Revenant Wings, Penelo's relationship with Vaan becomes ever closer, suggesting a romantic connection.
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