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

Joseph was born on August 1st, 1639 in Braintree, MA.1   Joseph's father was James Penniman and his mother was Lydia Eliot.  His maternal grandparents were Bennett Eliot and Lettice Aggar. He had three brothers and five sisters, named James, John, Samuel, Lydia, Sarah, Hannah, Abigail and Mary.  He was the fourth oldest of the nine children.1 

Family Details of Joseph's family with Waiting Robinson

1 phelps2185.FTW
Further source/citation:
World Family Tree Vol. 16, Ed. 1 @ Tree #2185