User blog comment:Zippertrain85/The difference between Mideval & Fantasy/@comment-17114085-20140309125534/@comment-17114085-20140319123658

Yes his father was the previous Jarl, though Ulfric was never meant to inherit the title as he was supposed to become a Greybeard.

As for other Jarls. Ingmund inherited the title. Laila's sons will inherit her title. Elisif inherited he title from her husband. Siddgeir "inherited" his title from his uncle. Other than Ulfric there is no example of a Jarl being chosen by the people.