Dara is the first wife of Humfrey. She married him when he became King of Human Xanth. A year later, Dafrey was delivered with almost all of Dara's soul. Without a conscience, she was able to leave him.
Dara later discovered she still had a few remaining bits of soul, so she returned to Humfrey disguised as Maiden Taiwan, his current wife. A year later, Matt A Door was delivered. Since she had no soul remaining, she did not take care of him.
Dara found she was only happy when with Humfrey and came back when he went to get Rose from Hell. She now acts as if she has a soul because she considers it fun.