On 23 March 1297, in Rome, Yolanda married Robert.
He was the third born son of Charles II of Naples and Maria of Hungary.
Robert married Yolanda in exchange for James II of Aragon's renouncing of Sicily (James was Yolanda's brother).
Yolanda was then escorted to Naples by her new brother-in-law, Raymond Berengar of Andria.
On Yolanda's death, Robert married Sancha of Majorca.