P. Cornelius Scipio
Roman nobleman, grandfather of Scipio Africanus. Got the cognomen Scipio because he guided and led his father in place of a staff (scipio), and transmitted the name to his posterity.
Commentary on the Pentateuch of Moses
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Canons Bearing a Torch Before the Pentateuch
— Got the cognomen Scipio because he guided his father in place of a staff
"Scipio was the cognomen of the Cornelii, which P. Cornelius (grandfather of P. Cornelius Scipio Africanus, who defeated Hannibal) originated"