Hijo de Luis de Velasco (Virrey de Navarra). Nacido en 1534 y muerto en 1617. Virrey de Méjico de 1590 a 1595, en 1595 del Perú, y nuevamente de Méjico de 1607 a 1611. Bajo su mandato se organizó la expedición de Juan de Oñate para la conquista de Nuevo Méjico.
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