Final answer:
Daedalus and Icarus are the main characters in their story, with Daedalus being the creator of the wings and the Labyrinth, and Icarus disregards his father's warning. The Minotaur is related to the Labyrinth, but Hercules is not a character in their tale.
Step-by-step explanation:
The characters in the story "Daedalus and Icarus" include A. Daedalus, the brilliant inventor who created the Labyrinth and the wings for himself and his son, and B. Icarus, Daedalus' son, who tragically falls to his death after flying too close to the sun, ignoring his father's warnings. D. The Minotaur is indirectly related to their story because Daedalus built the Labyrinth, which was the home of the Minotaur. However, C. Hercules is not directly related to the story of Daedalus and Icarus, as he is a separate hero known for his own set of adventures, such as the Twelve Labors.