Born in South Norwalk, Connecticut, Taylor attended the common schools, an early precursor to the public education system.

He briefly served as member of the first inaugural California Senate from San Joaquin from December 15, 1849, to February 13, 1850.

He was expelled from the California Senate on February 13, 1850, due to an excessive absence while attending to business concerns in New York City.

He was expelled “without any reflection upon his character.”[1] Upon returning to California he served as the president of the board of trustees for the State Insane Asylum from 1850 to 1856.

Nelson resigned his positions in 1856 and moved back to New York City after having made many political connections in California.

Taylor was transferred to the First Army Corps to replace Brigadier General George Hartsuff who was injured in the Battle of Antietam.

Taylor's advance against General James Henry Lane who held Stonewall Jackson's left was repulsed.

Though he suffered defeat and was forced to retreat, Taylor's actions in the battle earned him high praise from both his troops and superiors.

Taylor replaced ex-Tammany Hall leader Fernando Wood who was a key member of the Copperhead Democrats.

[6] During his time in the House of Representatives Taylor served on the Select Committee on Freedmen and voted on many bills related to Reconstruction.

He voted in favor of allowing elected members from designated districts in Arkansas to rejoin the House of Representatives, provided they had not participated in the government of the Confederacy.