Hendrik van Rensselaer was, evenals diens tweelingbroer Johan, hopman in het Staatse leger. Hij was in 1580 gelegerd in het Overijsselse Hasselt toen zijn vrouw, Maria Pafraet, het leven schonk aan een zoon. Hij was hun derde kind[3] en werd naar zijn grootvader Kiliaen genoemd.
7696 7697. Hendrick Van Rensselaer, (Capt.) of Hasselt, Holland was born in Amsterdam, The Netherlands, about 1554, and died in Ostend, Holland, on January 6, 1602. He died during the seige of the city. He was buried in the church at Nykerk, Holland, beside his twin brother. Maria Pafraet was born in Amsterdam on Wednesday, October 5, 1558. He is the son of Kiliaen and Nelle (Van Wenckum) Van Rensselear. She is the daughter of Jan and Peterken (TerBecke) Pafraet.
They had three children:
i. Maria Van Rensselaer: She was born in Holland. She married Ryckert Van Twiller in 1605. Their son, Wouter Van Twiller, was Director General of New Netherlands from 1632 to 1638.
ii. Jan Van Rensselaer: He died in 1639.
iii. Kiliaen Van Rensselaer [#3848]: He was born the Fort near Hasselt, Overijssel, Holland, about 1585.