Who defined the law of gravitation?

Sir Isaac Newton brought out his monograph, titled `Philosoplliae Naturalis Principia Mathematica,' in 1687. In this work, Newton described universal gravitation and the three laws of motion, which dominated the scientific view of the physical universe for the next three centuries. Newton showed that the motions of objects on Earth and of celestial bodies are governed by the same set of natural laws, by demonstrating the consistency between Kepler's laws of planetaly motion and his theory of gravitation, thus removing the last doubts about helio-centrism and advancing the Scientific Revolution.