Indeed Denethor knew Aragorn from before, from the time when he, incognito under the name of Thorongil, had served Denethor's father Ecthelion. Denethor was jealous of Thorongil, because
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" ...he was ever placed second to the stranger in the hearts of men and the esteem of his father."
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" Later, when all was made clear, many believed that Denethor, who was subtle in mind and looked further and deeper than other men of his day, had discovered who this stranger Thorongil in truth was, and suspected that he and Mithrandir designed to supplant him."
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(Appendix A , The Stewards)
So Denethors resentment went a long time back!
[ September 14, 2003: Message edited by: Guinevere ]