He was a son of Gerard II of Guelders and Ermgard of Zutphen.
Their daughter Adelaide married Gérard II, Count of Looz.
Hendrik died in 1182 and was succeeded by his son Otto I of Guelders.
He is buried at Kloosterkamp, probably the prestigious Cistercian abbey of Kloster Kamp.
He had a daughter named Margareta of Guelders who married Engelbert I of Berg.