His father and mother are living in Imladris, but he almost never visits them. His father was a greatly respected warrior in his youth but lost the use of his right leg in the same battle where Arathorn II got killed. Frustrated that he hadn’t been able to save his lord he swore that his first born son would become the protector of Arathorn’s son.
Aymar had an exceptional military training, preparing him for what his father had meant him to be. Aragorn, however, was somewhat older, and left Imladris when he was only a boy. He stayed at Elrond’s court until he was 17 and then left to join the Dunedain. His life with them and his many wanderings alone (or with Aragorn) made him a solitary man who never asked for help out of free will and he became extremely hard-hearted. Soon he was an expert at sword fighting. He fulfilled his duty with honour, and they became friends as time went by.