"Penelo (パンネロ Pannero) is a 17 year-old (16 year-old in the Japanese version) Hume orphan and Vaan's childhood friend, being the voice of reason to keep him out of trouble. She dreams of being a dancer, and learned martial arts from her older brothers. Five years before the Archadian invasion, a plague struck Rabanastre, killing Vaan's parents, and as a result Vaan and Reks were adopted into Penelo's household. The Archadian invasion claimed the lives of Penelo's family members as well as Reks, leaving her and Vaan as orphans. Migelo, a friend to Penelo's parents, took them under his care and gave them work at his sundry shop."
Source: Wikipedia, "Characters_of_Final_Fantasy_XII", available under the CC-BY-SA License.