Nessus

Nessus is a figure from Greek Mythology. He is a Centaur who participated in the battle with the Lapiths to become a ferryman on the river Euenos. He was killed by Heracles, and in turn killed Heracles with his tainted blood.

Tunic of Nessus:
While working as a ferryman for the river Euenos, Heracles and his wife Deianeira arrived one day to cross the river. After carrying Deianeira across, he attempted to assert himself on her. Heracles spotted this from across the river and shot Nessus with an arrow covered in Hydra-poison. Knowing his blood would be forever tainted by the poison, Nessus told Deianeira that his blood would ensure Heracles would stay true to her forever.

Later, when Heracles attempted to marry Iole, Deianeira spread Nessus' blood on a robe and gave it to Heracles as he left for a gathering of heroes. She accidentally spilled some of the blood on the floor, and it began to fume in the sun. In horror, Deianeira sent her messenger to warn Heracles, but it was too late.

Heracles burned to death, either in actual flames or due to the heat of the poison, and died nobly on a funeral pyre.