Robert de Whitfield, Lord of Whitfield, married Beatrix de Quitfeld, daughter of Isabel Fitz- piers (lineage descends from Robert Grentesmaisnil of Grentesmaisnil in the Dukedom of Normandy) and Robert de Vipont whose maternal line descends from Roger de Buislie, Lord of Tickhill , who came to England with William the Conqueror, and whose paternal line descends from the famed Lady Godiva, sister and heir of William Thorold. Lady Godiva married the Earl of Mercia , Leofric III, great-great-great grandson of Leofric I, Earl of Leicester in 750 AD. Robert and Beatrix had Gilbert and Richard Whitfield, Lord of Whitfield (born 1279 AD, died 1332 AD).