In Astro City, the heroine Quarrel is the daughter of a super-villain who was also named Quarrel.
There was an evil Assemblyman in the 70s and a good one in the modern age. Both are Gadgeteer Geniuses, but any further connection has yet to be revealed.
There's an example of this in Watchmen where at the end Laurie discusses a change of costume design into one that looks like that of the Comedian, her father. While the Comedian was technically a hero, being the Token Evil Teammate of the original team of heroes, this example probably still fits.
In The Incredibles comics by Boom! Studios, the Parr's new neighbors turn out to be Elastigirl's old nemesis, Mad Scientist Organa, and her family. Eventually, Organa's son Xander turns out to have inherited his mother's skills and becomes a superhero, using a modified version of her old costume.
The Transformers: Dark Cybertron: Chapter 9 sees Rodimus pull Orion Pax out of his Heroic BSoD by telling him that the title of Prime stands for decency, integrity, and morality because of him.
Rodimus: Listen. The world will always need a Prime. But only if that Prime is you.
