It rises near Hinckley in Leicestershire and is joined by the River Sence near Enderby before flowing through Leicester (where it is joined by the Grand Union Canal at Aylestone), Barrow-on-Soar, beside Loughborough and Kegworth, before joining the Trent near Ratcliffe-on-Soar in Nottinghamshire, and thence into the Humber and the North Sea. Its major tributary, the once navigable River Wreake, joins it near Syston. The Soar has been made navigable to boats and several shortcuts have been built. The section between Loughborough and Leicester was made navigable in 1784, and the Grand Union Canal connected it south to the southern canals network and to London, in 1814. According to legend, the body of King Richard III of England was thrown into the Soar after his death. The bridge carrying the A47 across the Soar at Leicester is known as 'King Richard's Bridge'. It is believed the name "Leicester" is derived from the words castra (camp) of the Ligore, meaning dwellers on the 'River Legro' (an early name for the River Soar). In the early 10th century it was recorded as Ligeraceaster ("the town of the Ligor people"). The Domesday Book later recorded it as Ledecestre.