While Kepler was working on his Harmony of the World, his mother was charged with witchcraft. He enlisted the help of the legal faculty at Tübingen. Katharina Kepler was eventually released, at least partly as a result of technical objections arising from the authorities' failure to follow the correct legal procedures in the use of torture. The surviving documents are chilling. However, Kepler continued to work. In the coach, on his journey to Württemberg to defend his mother, he read a work on music theory by Vincenzo Galilei (c.1520 - 1591, Galileo's father), to which there are numerous references in The Harmony of the World.
