Rhenish territory prospered greatly and stood in the foremost rank of German culture and progress. Aachen was the place of coronation of the German emperors, and the ecclesiastical principalities of the Rhine bulked largely in German history. Prussia first set foot on the Rhine in 1609 by the occupation of the Duchy of Cleves and about a century later Upper Guelders and Moers also became Prussian. At the peace of Basel in 1795, the whole of the left bank of the Rhine was resigned to France, and in 1806, the Rhenish princes all joined the Confederation of the Rhine. After the Congress of Vienna, Prussia was awarded the entire Rhineland, which included the Grand Duchy of Berg, the ecclesiastic electorates of Trier and Cologne, the free cities of Aachen and Cologne, and nearly a hundred small lordships and abbeys. The Prussian Rhine province was formed in 1822 and Prussia had the tact to leave the lower Rhenish districts in undisturbed possession of the liberal institutions to which they had become accustomed under the republican rule of the French. In 1920, the districts of Eupen and Malmedy were transferred to Belgium (see German-speaking Community of Belgium). Westphalia Around AD 1, numerous incursions occurred through Westphalia and perhaps even some permanent Roman or Romanized settlements. The Battle of Teutoburg Forest took place near Osnabrück and some of the Germanic tribes who fought at this battle came from the area of Westphalia. Charlemagne is thought to have spent considerable time in Paderborn and nearby parts. His Saxon Wars also partly took place in what is thought of as Westphalia today. Popular legends link his adversary Widukind to places near Detmold, Bielefeld, Lemgo, Osnabrück, and other places in Westphalia. Widukind was buried in Enger, which is also a subject of a legend. Along with Eastphalia and Engern, Westphalia (Westfalahi) was originally a district of the Duchy of Saxony. In 1180, Westphalia was elevated to the rank of a duchy by Emperor Barbarossa. The Duchy of Westphalia comprised only a small area south of the Lippe River. Parts of Westphalia came under Brandenburg-Prussian control during the 17th and 18th centuries, but most of it remained divided duchies and other feudal areas of power. The Peace of Westphalia of 1648, signed in Münster and Osnabrück, ended the Thirty Years' War. The concept of nation-state sovereignty resulting from the treaty became known as "Westphalian sovereignty". As a