I have a question does anybody know the tittle of a Child who had memories of her past lif...

I have a question does anybody know the tittle of a Child who had memories of her past life and was born as a commoner and was put in a basket to the river like other kids and was chosen by the king who has a dragon as a familiar? As years goes by she was a maid in the castle while everyone disrespected her but only a single maid cared about her. Idk the rest tho.
Does anyone know the tittle???