Robert Fulton, an American engineer and inventor, was the first to establish steam navigation. In 1800 he was commissioned by Napoleon Bonaparte to design the Nautilus, the first practical submarine in history. In 1806, Fulton married Chancellor Livingston's niece Harriet (who was the daughter of Walter Livingston), and they later had four children: Robert, Julia, Mary and Cornelia.In 1807, Fulton and Livingston together built the first commercial steamboat, the North River Steamboat (later known as the Clermont), which carried passengers between New York City and Albany, New York. The Clermont was able to make the 300 mile trip in 62 hours. From 1811 until his death in 1815, Fulton was a member of the Erie Canal Commission. He is buried in the Trinity Church Cemetery in New York City, alongside other famous Americans such as Alexander Hamilton.