Daedalus and Ikarus

Daedalus was the most famous craftsman in ancient Athens. He was greatly admired for his talent and art. Yet, what made him leave his beloved city? What his relationship with the palace of Crete and almighty King Minos was? How did he help Theseus, the renowned hero, kill the notorious monster, the Minotaur? What happened to his beloved son Icarus and why? And, finally, how did he manage to get back home, the place he adored?