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In Ancient Rome, the Auriga was a slave with gladiator status, whose duty was to drive a biga, the light vehicle powered by two horses, to transport some important Romans, mainly Duces (military commanders); it was then a sort of chauffeur for important men and was carefully selected among trustworthy slaves only.
It has been supposed also that this name was given to the slave who held a laurus crown, during Roman Triumphs, over the head of the Dux, standing at his back but continuously whispering in his ears Memento homo (remember you are (only) a man) to avoid that the excess of celebration could lead the celebrated commander to lose his sense of proportions.
The term became common in latter times to indicate any biga driver.