Engraving of Terpsichore, Greek Muse of Dancing, from a series entitled: The Nine Muses (plate 5) by Hendrik Goltzius, 1592. In Greek mythology, Terpsichore was the Muse ruling over dance and the dramatic chorus. She is usually depicted sitting down, holding a lyre, accompanying the dancers' choirs with her music. She is the daughter of Zeus and Mnemosyne. Her sisters include Calliope (muse of epic poetry), Melpomene (muse of tragedy), Terpsichore (muse of dancing), Clio (muse of history), Erato (muse of erotic poetry), Thalia (muse of comedy), Polyhymnia (muse of hymns), and Urania (muse of astronomy).