The South Kingdom, Gondor was founded in the year 3320 of the Second Age, by Elendil and his two sons ruled it until the War of the Last Alliance, when Elendil and Anárion were killed. Then Isildur became the High King of both kingdoms. The Kingship lasted until the year 2050 of the Third Age, when the last King died. After this the Stewards ruled in the name of the King, until the year 3019, when Aragorn took back the Kingship of both Arnor and Gondor.
Gondor had three main cities and several smaller ones. The main cities were:

The Lord of the Rings
The Unfinished Tales
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