Harold had at least 2 sons, which founded different lines of the Vauxes: Hubert the elder founded the Gillesland Vaux's and Robert the younger founded the Harrowden Vaux's.
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Harold de Vaux, Lord of Vaux, in Normandy, having for religious purposes conferred his seigneury upon the abbey of the Holy Trinity at Caen, came into England accompanied by his three sons, Hubert, Ranulph, and Robert. [John Burke, History of the Commoners of Great Britain and Ireland, Vol. IV, R. Bentley, London, 1834, p. 100, Martin, of the Wilderness, Family of Vaux]