Lankford continued moving south along the frontier when he came of age, possibly because his parents' debts exceeded their assets when they died, or would be insufficient to raise younger siblings.

[8] In 1777, when Robert Williams resigned as colonel of the county militia and was replaced by John Wilson, Lankford was promoted to major.

[10] Pittsylvania voters elected Lankford and fellow militia captain Peter Perkins as their representatives to what proved to be the final session of the House of Burgesses, which began in 1775.

[12] When Virginia declared her independence and the Virginia House of Delegates replaced the burgesses (though still a part-time position), Lankford would be elected and re-elected until 1790, albeit with gaps, serving first alongside Robert Williams, then after the pair was temporarily replaced by Abraham Shelton and Peter Perkins in 1777–1778, again served alongside John Wilson in 1779, Thomas Terry in 1780 and attorney Haynes Morgan in 1781.

It named seven children, but the Lankford surname ceased in Pittsylvania county, his daughters having married into the Todd, Madison, Browne and Turner families.