Hard Science Fiction or Space Opera, Cyberpunk or post-nuclear, this is the realm of Science Fiction.
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King dresses as a commoner occasionaly and makes his way through the town. It is an unknown occurance so nobody expects it. This time he is mistaken for a thief and jailed. Not wanted to reveal himself, and always curious for the experience, he allows himself to be arrested. PCs also get arrested for something, probably guilty but pay a fine. How they act towards the 'king' could greatly change how their first meeting will be as the players always meet the king at some point.