No, he did not.
Theseus married Phaedra, the sister of Ariadne.
Ariadne married Dionysus.
Theseus had a few wives/lovers, including supposedly Helen (of Troy, daughter of Zeus) with whom he had Iphigeneia. Then with Peridone he had Melanippus. With Hippolyte (Queen of the Amazons) he had Hippolytus, he also had a wife Iope or Aegee.
Theseus went to the island of Crete to combat the Minotaur in the Labryinth built by Dedalus the architect. When he was walking by Ariadne, the princess of Crete, she fell in love with him and went to Dedalus to find out how he could escape from the Labyrinth.
She gave him a ball of yarn to tie to the beginning so he could find his way out again. On his way back to his father, she was not with him. There are two accounts to this. One is that he left her on the harbor of an island when she was sleeping. Another is that she got off the ship herself and the wind blew Theseus's ship away from the island so he was unable to return.
ariadne
For love of Theseus.
Click the Ariadne link below and read all about Theseus and Ariadne. She was not on a rock, though. Maybe you have mixed their stories with the one about Perseus and Andromeda. She was tied to a rock.
Ariadne gave a string to Theseus to guide his way into the labyrinth
King Minos' daughter Ariadne fell in love with Theseus.
ariadne
For love of Theseus.
It was Ariadne, daughter of Minos, who wanted to marry Theseus. But there were other women in Theseus' life, both before and after Ariadne.
She was in love with him.
The princess Ariadne helped Theseus.
Ariande wanted to marry Theseus.
Ariadne gave Theseus a roll of string so that once he had killed the Minotaur, he could find his way back out.
Ariadne helped Theseus by using Ariadne's String.
Click the Ariadne link below and read all about Theseus and Ariadne. She was not on a rock, though. Maybe you have mixed their stories with the one about Perseus and Andromeda. She was tied to a rock.
Ariadne did.
Ariadne.
Ariadne