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You can't unless you are a Targaryen/Blackfyre or believe in the Valyrian religion.
Sadly.
 
Had an instance when I was playing as Tyrosh during Robert's Rebelliom bookmark. Robert won and Jaime was released from the Kingsguard. He married Cersei when he become Lord Paramount after Tywin died.
 
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If you don't mind tampering with the mod files, you could remove these lines from the way_of_life_decisions.txt file, inside the "Documents\Paradox Interactive\Crusader Kings II\mod\A Game of Thrones\decisions" folder:
Code:
                custom_tooltip = {
                    text = TOOLTIPVISITCHAMBERCHILD
                    hidden_tooltip = {
                        OR={
                            AND = {
                                NOT = { is_child_of = FROM }
                                NOT = { mother_even_if_dead = { is_child_of = FROM     } }
                                NOT = { father_even_if_dead = { is_child_of = FROM } }
                                FROM = {
                                    NOT = { is_child_of = ROOT }
                                    NOT = { mother_even_if_dead = { is_child_of = ROOT } }
                                    NOT = { father_even_if_dead = { is_child_of = ROOT } }
                                }
                            }
                        }
                    }
                }
That way you could use the seduce option on any direct descendant and ascendant of yours: (grand)parents and (grand)children will be suitable characters, as long as they're already 16. You still won't be able to marry them, though.