In 1688, Lawrence married Mildred Warner, one of three daughters of Mildred Reade and the wealthy Gloucester County planter Augustine Warner, Jr.
By her, he had three children: John (1692-1746), Augustine (1694-1743), and Mildred (1698-1747). Lawrence died at the age of 38 in February 1698, the same year in which his daughter was born.
