Finally in 1162 the principality was passed by Yuri Dolgoruki back to one of the Izyaslavichi Yury Yaroslavich, grandson of Svyatopolk II of Kiev, who gained full independence from Kievan Rus'. However, at the same time the duchy became more and more divided between several sons of the duke Yury. A semi-independent Duchy of Pinsk was created. Along with the Duchy of Smolensk, the army of Turau participated in the Battle of the Kalka River in 1223.
Decline In the early 13th century the Duchy of Turov became dependent of the Kingdom of Galicia–Volhynia. To liberate[clarification needed] itself from it, the dukes of Turov cooperated more and more with the Grand Duchy of Lithuania. In the early 14th century the Duchy non-violently joined the Grand Duchy. By that time Hleb Narymunt, the son of Gediminas, was already ruler of Pinsk, while Turov and Haradok were still ruled by Rurikids. Later the territory of the Duchy became part of Brest Litovsk, Nowogródek, and Minsk Voivodeships.