When Theseus escaped from the labyrinth and King Minos flew into a rage with his builder Daedalus. (Lines 1-2)
In time, with the help of his young son, Icarus, Daedalus managed to escape from the tower, only to find himself a prisoner on the island. (Lines 3-6)
I want you to listen carefully to my instructions. Keep at moderate height, for if you fly to low, the fog and spray will clog your wings, and if you fly to high, the heat will melt the wax that holds them together. Keep near me and you will be safe. (Lines 43-47)
Frantically he fluttered his arms, but no feathers remained to hold the air . He cried out to his father, but his voice was submerged in the blue waters of the sea, which has forever after been called by his name . (Lines 76-79)
Daedalus hurried to save him, but it was too late. He gathered the boy in his arms and flew to land, the tips of his wings dragging in the water from the double burden they boar. Weeping bitterly, he buried his small son
The theme is that you need to listen and obey your parents and elders because things can happen when you don't and you can put yourself in danger.