Penelo (パンネロ Pannero) is a 17 year-old (16 year-old in the Japanese version) Hume orphan and Vaan's childhood friend, being the voice of reason to keep him out of trouble. She dreams of being a dancer, and learned martial arts from her older brothers. Five years before the Archadian invasion, a plague struck Rabanastre, killing Vaan's parents, and as a result Vaan and Reks were adopted into Penelo's household.The Archadian invasion claimed the lives of Penelo's family members as well as Reks, leaving her and Vaan as orphans. Migelo, a friend to Penelo's parents, took them under his care and gave them work at his sundry shop.

Penelo is usually trying to keep Vaan out of trouble, but she could not stop Vaan from intruding into the palace grounds.She encountered Vaan, who was arrested along with Balthier and Fran. This encounter forced her into a series of events, when she was kidnapped by Bangaa headhunter Ba'gamnan and held as hostage in exchange for Balthier. When she managed to escape, she met with Larsa Solidor, one of the sons of Archadian Emperor Gramis, who took care of her and convinced her that he wishes to make peace with Dalmasca. When she is finally reunited with Vaan, she made him promise not to leave her side, and ever since traveled with Vaan, furthering their relationship as Sky Pirate and partner.

A year after the Bahamut, during the game epilogue, Penelo serves as Vaan's navigator from their adventure in Revenant Wings. In the backstory of Final Fantasy XII, she has terrible cooking skills, despite being the motherly figure to the other orphans, and in the sequel, she is trying her best to improve her skills by running a diner on the Galbana. Her relationship with Vaan was also explored, and there had been a conflict when Penelo cared deeply for a Dalmascan knight who appeared in Lemures, much to Vaan's chagrin.By the events of Final Fantasy Tactics A2, Penelo gains much reputation as a Sky Pirate. She was voiced by Catherine Taber in English and by Yuna Mikuni in Japanese. Penelo also appears in Itadaki Street Portable.

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