Why did Samuel Tarly join the Night's Watch?
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Sam is the eldest son of Randyll Tarly, the former ruler of Hornhill. The Tarlys are a noble family under Mace Tyrell, the patriarch of Highgarden and protector of the south end.
So these Tarlys had lands passed down from father to son, fertile fields, and a sword made of Valyrian steel called "Heartsbane".
Sam is not a kid who likes things like swordsmanship. Sam likes books, music, and dance. Sam's father did not like this. No matter what he did, Sam couldn't be swayed by those things.
Somewhere, Randyll Tarly gave birth to another son. His name is Dicken Tarley. So Sam's father wanted to give Dicken everything in Hornhill without Sam.
So Sam's father gave Sam two choices. One is to join the Night's Watch by telling everyone that they are giving Dicken control of Hilborn. The other is a death threat. If not, Sam's father threatened to kill him.
So that's why Samuel Tarly came to Barigathe Nights Watch. Jon Snow became like a real brother to him.