vital records sources
go to Sarah Holden's page

John Austin, in his The Genealogical Dictionary of Rhode Island, says that Joseph was born on 21 March 1647 with no source for it. This date is dubious. Joseph was apprenticed to tailor Thomas Smith of Warwick on 21 March 1665 for a term of eight years.1 There is no reason to believe this wasn't at the usual apprentice age of about 13. His birth year is more likely about 1653, and he married when he was about 25. Joseph is on the 1677 list of list of Warwick freeman.      

Children of Joseph Stafford and Sarah Holden (order not certain, Frances's marriage and the order named in Sarah's will, by gender, is taken into account here:

Frances, b. abt. 1680
Stukeley, m. Elizabeth Waterman
Joseph, m. 1. Susannah Gorton 2. Margaret Huling
John, m. Elizabeth
Elizabeth, m. 1. William Chase 2. Israel Arnold
Mary, m. Pasco Whitford
Sarah, m. Joseph Smith
Margaret, m. Mr. Place

vital records sources:

1. The Early Records of the Town of Warwick, 265.