In 1388, King U (son of King Gongmin and a concubine) and general Choe Yeong planned a campaign to invade present-day Liaoning of China. King U put the general Yi Seong-gye (later Taejo) in charge, but he stopped at the border and rebelled. Goryeo fell to General Yi Seong-gye, a son of Yi Ja-chun, who put to death the last three Goryeo kings, usurped the throne and established in 1392 the Joseon dynasty.