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Male Joseph Baker Click to view Joseph Baker in the family tree

Joseph was born in 1600 in Hertfordshire, England.1   Joseph's father was Nicholas Baker and his mother was Mary Hodgett.  His paternal grandparents were John Baker and Margery Madistard. He had two brothers and two sisters, named Nicholas, John, Margery and Judith.  He was the second youngest of the five children.2 

1 phelps.FTW @ Tree #0259
2 phelps.FTW
Further sources/citations:
World Family Tree Vol. 1, Ed. 1 @ Tree #0259, World Family Tree Vol. 1, Ed. 1 @ Tree #3857