Robert's attitude towards the Church changed completely since his uncle's return from exile. To make up for what he had done to the Church earlier he restored all the property that he or his vassals had taken. He also decided to make a pilgrimage to Jerusalem to make up for his sins. After making his illegitimate son William his heir, he set out on his pilgrimage. He travelled by way of Constantinople and reached Jerusalem. He fell seriously ill and died on the return journey at Nicaea on 2 July 1035. His son William, aged about eight, succeeded him.