Fire Emblem 7 is a prequel to Fire Emblem 6, starring a younger Eliwood and Hector, who also appeared in FE6 as the fathers of Roy and Lilina respectively. It also features several other characters that appeared in FE6 as their younger incarnations, including but not limited to Marcus, Merlinus, Karel, and Bartre, as well as Zephiel, an important villain character. You could say FE7 was a story exploring what the extended cast of FE6 was getting up to in their youth.