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Rapunzel from Tangled (voiced by Mandy Moore) – In the second half of the hour-long episode "The Curse of Princess Ivy", she shows how much Sofia and Amber's relationship has grown and deepened despite mistakes that Amber has made. She also teaches Amber to mend their relationship she has to "Dare to Risk It All" to break the curse of Princess Ivy after the curse was unleashed by the Amulet for stealing Sofia's amulet for a selfish want, learning the secrets of the amulet, and betraying Princess Sofia. (Disney Princesses)
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Belle from Beauty and the Beast (voiced by Julie Nathanson) – In "The Amulet and the Anthem", she sings a song called "Make It Right" and helps Sofia realize that actions speak louder than words. Julie Nathanson had to voiced Belle in the Sofia the First Season 1 episode due to Paige O'Hara, Belle's original voice actor, being unable to do the voice recording work. (Disney Princesses)
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Flora, Fauna, and Merryweather from Sleeping Beauty (voiced by Barbara Dirikson, Russi Taylor, and Tress MacNeille) – Three good fairies who are the headmistresses of Royal Prep, the school that Sofia, Amber, James, and their royal friends attend. (Characters from other Disney properties)
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Baileywick (voiced by Tim Gunn) – The castle steward. Being a workaholic, he does his job well though he did fall into a few accidents. He can be overprotective of Sofia at times, but she doesn't really mind most of the time. Baileywick also has an older brother named Nigel. (Main cast)
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Princess Sofia (voiced by Ariel Winter) – A young village girl who became a princess after her mother married King Roland II. She is upbeat, outgoing, adventurous, and loves the outdoors. Ever since she was brought into the royal family, she became the bearer of the mystical Amulet of Avalor, which gave her the ability to understand animal speech (they can understand her without the amulet, with the amulet itself having been the refuge for another princess for 41 years, whom Sofia would eventually release). It can also summon Disney Princesses to help her, with Sofia eventually helping other princesses in need herself as well, in a similar manner. As of Season 4, after defeating the evil Prisma, Sofia has become the first non-magical being to join the ranks of the Protectors, and since then, joined by a Fairy Protector named Chrysta, Sofia is training to become a Protector, obtaining new items to help her like her Enchantlet & her Necessi-Key. But ever since Prisma escaped, and allied herself with Twitch (who stole Sofia's Necessi-Key to help Prisma escape) and, later on, Wormwood (Cedric's former friend & pet raven), it is now up to Sofia (with help from Chrysta, & Sofia's friends & family on occasions) to prevent Prisma from becoming powerful by stopping her, Twitch, & Wormwood from obtaining all of the "Wicked Nine", a group of evil objects that have belonged to 9 major Disney Villains (The Evil Queen Grimhilde from Snow White and the Seven Dwarfs, Lady Tremaine from Cinderella, Maleficent from Sleeping Beauty, Ursula from The Little Mermaid, Jafar from Aladdin, Shan Yu from Mulan, Dr. Facilier from The Princess and the Frog, Mother Gothel from Tangled, and Mor'du from Brave). At the end of "Forever Royal", Sofia is finally promoted into full-fleged Protector of the Ever Realm. (Main cast)
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Robin (voiced by Meghan Strange) – A robin and friend of Sofia. (Main cast)
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