Part human and part horse, they were the children of either Centaurus and the Magnesian Mares or Ixion and Nephele. They were wild in nature and untamed, excelled at archery and were fond of grapes and wine. They do not take well to alcohol, becoming drunk easily. In this state they become very aggressive and would often attack humans and each other.
Centaurs were said to have inhabited the region of Magnesia and Mount Pelion in Thessaly, the Foloi oak forest in Elis, and the Malean peninsula in southern Laconia. They were believed to either be driven off or wiped out during their war with the Lapiths.
"A half-man, half-horse creature of Greek lore. The top half is human and the bottom half is a horse. They are often depicted as wise and noble mentors of heroes. A common theory about their origin is that a non-riding culture saw men from another civilization mounted on horses and thought them to be half-horse."
—Shin Megami Tensei IV Profile
A lone Centaur will be recruited during the tutorial on how to Scout demons during Flynn's training to become a Samurai.