He was the son and successor of Waleran III, Duke of Limburg and Ermesinde, Countess of Luxembourg.

In contempt of this, Henry paid homage in 1256 to King Theobald II of Navarre in the latter's capacity as Count of Champagne.

Henry's brother-in-law Count Theobald II of Bar took advantage of the conflict then raging between Duke Frederick III of Lorraine and the bishops of Metz.

[2] On 8 September 1268, King Louis IX of France arbitrated between the two counts and Henry was freed and repossessed of Ligny, but under the suzerainty of the Barrois.

Baldwin sold his rights to Namur to Guy, Count of Flanders, who retook the margraviate from Henry.