In his youth Julius Agrippa studied with his close friend Emperor Claudius (our 66th great-grandfather) in Rome.  Later he was appointed king in Judea by Emperor Caligula (our 1st cousin 63 times removed). Julius Agrippa was the Herod mentioned in Acts 12,1 who beheaded Jesus' disciple James and imprisoned Peter:

"Now about that time Herod the king stretched forth [his] hands to vex certain of the church. And he killed James the brother of John with the sword. And because he saw it pleased the Jews, he proceeded further to take Peter also. And when he had apprehended him, he put [him] in prison, and delivered [him] to four quaternions of soldiers to keep him; intending after Easter to bring him forth to the people." 

Read more in the Bible about how Peter was freed. Later he made it to Rome where both he and St. Paul were killed by Emperor Nero (our 2nd cousin 63 times removed). 
I also find it interesting that 3 of Julius Agrippa's children met St. Paul face to face. One was Agrippa II, another his sister Berenice (Acts 25,23) who later became Emperor Titus' lover. And the last was Drusilla, whom Josephus described as one of the most beautiful women in the world. St. Paul preached to her and her husband, Antonius Felix (Acts 24,24). Their son Antonius Agrippa later tragically died under the vulcano ashes in Pompeii just as both Luke in (Acts 12,23) and Josephus see Julius Agrippa's death as God's revenge.