Chiron

The "wisest and justest of all the centaurs," according to Homer’s Iliad.

His foster father Apollo taught the young centaur the art of medicine, herbs, archery, hunting, gymnastics, prophecy, and more importantly for our purposes, music.

One of the most common Roman depictions of Chiron is him teaching Achilles the lyre (see above fresco from Herculaneum, 1st century AD). His other students included such mythological heroes as: Asclepius, Aristaeus, Actaeon, Achilles, Jason, and Medus.