He founded the towns of Lippstadt and Lemgo.

In 1167, Bernard married Heilwig (1150–1196), likely the daughter of Otto, Count of Are-Hochstaden.

They had eleven children who survived into adulthood.

Five sons: Six daughters: Margarethe of Lippe († 1221) is frequently listed as a daughter of Bernard II and an unknown mother.

This article about a member of the German nobility is a stub.