He fought at the battle of Cassel (1071) for Robert I, Count of Flanders.
Later, Baldwin and Enguerrand of Lillers went on pilgrimage to Santiago de Compostela.
In 1079, he made the pilgrimage to Santiago de Compostela with Enguerrand, Lord of Lillers.
[5] On his return, Baldwin fell ill and was very well cared for at the Abbey of Saint-Sauveur de Charroux.
Baldwin married Adele Christine, daughter of Florent of Lorraine.