Robert Taft Jr. married Elizabeth Woodard of Braintree, Suffolk County.
He continued to figure in the town affairs, having undoubted weight and influence for a few years, when he gave up that kind of ambition to his son Captain John.
[1] His oldest son, Robert III, had large transactions in real estate, and was popular, and held every office of trust and honor the town had to give, from fence viewer and tything-man, to selectman and representative in "the Great and General Court.
"[2] He came upon the after his uncle Daniel Taft had become absorbed in the important duties which, at that time, weighed down a colonial justice of the peace.
The newly elected President of the United States, George Washington, stayed one evening with Samuel Taft and his family.
[3] Robert Taft Jr. was a founder and the founding Selectman on the first Board of Selectmen, of the colonial town of Uxbridge, in Worcester County, Massachusetts.
His descendants number among well-known Americans and political figures, especially among the Taft family in Ohio.