Then he studied law, was admitted to the bar in 1807, and practiced in Ballston Spa, New York.

In 1819, he supported the proposed Tallmadge Amendment regarding the Missouri Territory's admission to the Union as a free state (which passed the House, but was defeated in the Senate), and was a staunch proponent of the subsequent Missouri Compromise of March 1820.

During the floor debate on the Tallmadge Amendment, Taylor boldly criticized southern lawmakers who frequently voiced their dismay that slavery was entrenched and necessary to their existence.

[1] After leaving Congress, Taylor resumed his law practice in Ballston Spa, and was a member of the New York State Senate (4th D.) in 1841 and 1842.

In 1843, he moved to Cleveland, Ohio, to live with his eldest daughter and her husband William D. Beattie, and died there 11 years later.