Robert de Stafford & Brasilla 
They had a daughter named Millicent.
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Personal Details
Robert de Stafford
Robert was born on September 4th, 1127 in Stafford, Staffordshire, England.1 He died at the age of 67 on September 19th, 1194 in Belvoir Castle, Leicstershire, England.1
Brasilla
Brasilla was born in 1145 in Stafford, Staffordshire, England.1 She died at the age of 76 in 1221.1
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Children
Millicent de Stafford
Millicent was born in 1150 in Stafford Castle, Staffordshire, England.2 She died at the age of 73 in 1223.2
1 http://wc.rootsweb.ancestry.com/cgi-bin/igm.cgi?op=PED&db=1121961&id=P-820876503
2 http://wc.rootsweb.ancestry.com/cgi-bin/igm.cgi?op=PED&db=8138003&id=I2712&style=TABLE
2 http://wc.rootsweb.ancestry.com/cgi-bin/igm.cgi?op=PED&db=8138003&id=I2712&style=TABLE