The three Tripurasura demons — Tarakaksha, Vidyunmali, and Kamalaksha — were the sons of Taraka, who sought vengeance for their father's death at Kartikeya's hands by performing terrible austerities and building the three invincible flying cities.
Skanda slew the demon Taraka with his vel spear, fulfilling the purpose of his birth. Taraka had terrorized the three worlds with a boon that only a son of Shiva could kill him.
Taraka's boon that only a son of Shiva could kill him drove the gods to engineer Shiva and Parvati's union. Parvati's tapas and eventual marriage to Shiva led directly to the birth of Skanda, who slew Taraka.
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