Stephen was captured in February 1141 at the Battle of Lincoln, which prompted the collapse of his authority in both England and Normandy. Geoffrey now controlled almost all of Normandy, but no longer had the support of Aquitaine now that William X had been succeeded by his daughter, Eleanor, who had married Louis VII of France in 1137. Louis was not concerned with the events in Normandy and England. While Geoffrey consolidated his Norman power, Matilda suffered defeats in England. At Winchester, Robert of Gloucester was captured while covering Matilda's retreat so Matilda freed Stephen in exchange for Robert. In 1142, Geoffrey was asked by Matilda for assistance but refused; he had become more interested in Normandy. Following the capture of Avranches, Mortain and Cherbourg, Rouen surrendered to him in 1144 and he anointed himself duke of Normandy. In exchange for Gisors, he was formally recognised by Louis VII. However, Geoffrey still didn't assist Matilda even as she was on the verge of defeat. Further rebellion occurred in Anjou, including Geoffrey's younger brother, Helie, demanding Maine. It was during this period of Angevin unrest that Geoffrey dropped the title of duke of Normandy and formally invested his son Henry as duke in 1150, though both Geoffrey and Matilda would continue to dominate Norman affairs. The following six decades of Angevin rule over Normandy would see the establishment of Norman customs and institutions that would last until the French Revolution. The nominal foundation of the Angevin Empire Stephen continued to claim Normandy, believing an alliance with Louis was possible. Louis VII had recognised Henry as duke of Normandy in August 1151 in exchange for concessions in the Norman Vexin, but remained angered by Henry and Geoffrey's treatment of Giraud II of Montreuil-Berlay following Giraud's failed rebellion against Angevin rule the year before. This situation quickly began to shift when, in September, Geoffrey died and Henry inherited his position as Count of Anjou, with rule also over Touraine and Maine. Geoffrey had planned to leave Anjou to his younger son, Geoffrey, but this would have hampered Henry's ability to succeed in conquering England. Geoffrey instead asked his vassals to swear that his body would be left unburied until Henry promised to abide by his wishes. W. L. Warren suggested that this story was spread purely to justify the younger Geoffrey's later rebellion against Henry, and that the Angevin nobles supported the story