Shang Dynasty
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Shang 商 Dynasty, also called Yin 殷 Dynasty is the first dynasty with written evidence.
The rulers in Shang Dynasty believed in Di, who is believed to be the first ancestor and god at the same time. So rulership was legitimized through divine origin of the ruling family.
Image from: http://history.cultural-china.com/en/182History6983.html
Sources
Cambridge Illustrated History of China, 2nd ed. 2010, 384 pp.