Aurin’s parents were both mercenaries hired into the same ship’s crew. They eventually grew closer than professional and it wasn’t long after that, they realized a child was on the way. They decided to get out before anyone could tell anything was up and attempt raising Aurin in a less violent environment. So they waited for an opportune moment, stole a large chunk of the crew’s earnings and a relatively small ship to take to Dagobah and settled down there.