He was a cousin of fellow conquistadors Martín Yañéz Tafur, Hernán Venegas Carrillo and Pedro Fernández de Valenzuela.
[1] Other family members were also conquistadors: Pedro Fernández de Valenzuela, Hernán Venegas Carrillo and Martín Yañés Tafur.
[3] In 1518 he left Spain for the New World under the command of Pedro de los Ríos, governor of Tierra Firme in Panama.
[4] In April 1536, Tafur was appointed cavalry leader in the expedition led by Gonzalo Jiménez de Quesada[5] which left the Caribbean city of Santa Marta in search of El Dorado.
[6] Tafur participated in the Spanish conquest of the Muisca people and received the encomiendas of Pasca, Usaque, Itaque and Chipaque, where he built the first church in 1538.