[1] At the age of thirty-six, he was elected to the Virginia General Assembly from Cumberland County, and served there from 1816 to 1819.
A decade later, he returned to the General Assembly, this time serving in the Virginia State Senate from 1826 to 1829.
While there Taylor collaborated with Thomas Jefferson who was then a private citizen, and assisted State Senator Joseph C. Cabell in passing the bill establishing the University of Virginia.
He was one of four serving at the convention from the Senatorial District of Amelia, Chesterfield, Cumberland, Nottoway, Powhatan Counties and the town of Petersburg.
[3] When it elected its officers, the convention chose Taylor to chair of the Bill of Rights Committee.