On the invitation of Mughal emperor Aurangzeb, Shivaji visited the imperial court at Agra in 1666 AD. But there, Aurangzeb  didn’t give him respectable welcome and imprisoned him and his 9-year old son Sambhaji. Though, Shivaji was able to escape  with his son in disguise from jail and from there onwards, Shivaji and Mughals became bitter enemies.