A History of Rome was a literary work written on Earth by Titus Livius. It was a history of Rome from its founding to Livius' time.
In 2378, Icheb quoted a line from this history to Seven of Nine, which read "Better late than never". (VOY: "Human Error")
According to the Star Trek Encyclopedia (4th ed., vol. 1, p. 338), the book's Latin title was
Ab Urbe Condita Librit ("books since the city's founding").
According to Wiktionary, the phrase "better late than never" was a calque of the phrase potiusque sero quam numquam (better late than never) from the fourth book of this history. 
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