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Female Joan Drake Click to view Joan Drake in the family tree

Joan was born in 1606 in Wiscomb, Devon.1   Joan's father was William Drake and her mother was Philippa Denys.  Her paternal grandparents were Robert Drake and Elizabeth Prideaux; her maternal grandfather was Robert Denys. She had three brothers and a sister, named John, Thomas, William and Anye.  She was the second youngest of the five children.1 

Family Details of Joan's family with Robert Collins

1 phelps.FTW
Further sources/citations:
World Family Tree Vol. 1, Ed. 1 @ Tree #0259, phelps.FTW @ Tree #0259, World Family Tree Vol. 22, Ed. 1 @ Tree #3242