He was the son of Theobald II, Count of Bar and Jeanne de Toucy.

[1] Henry's introduction to military life came as he was made a knight in a conflict between his father and the Bishop of Metz.

In 1284 Joan I of Navarre, Countess of Champagne married the future Philip IV of France.

[2] When war broke out in short order between France and England, Henry was drawn in.

Under its terms, Henry gave up some fortresses and paid homage to Philip for part of his lands, then called the Barrois mouvant.