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Herakles was compelled to capture the bull as his seventh task. He sailed to Crete, whereupon the King of Crete, Minos, gave Herakles permission to take the bull away, as it had been wreaking havoc on Crete. Herakles used a lasso and rode it back to his cousin, Eurystheus. Eurystheus wanted to sacrifice the bull to Hera, who hated Herakles. She refused the sacrifice because it reflected glory on Herakles, and the bull was released to be captured by Theseus later.
http://en.wikipedia.org/wiki/Cretan_Bull