Emma was the fourth of seven children. Her father was George Victor, king of Waldeck and Pyrmont, and her mother was Helena, Princess of Nassau-Weilburg. Her grandmother on her father's side, Emma of Anhalt-Bernburg-Schaumburg-Hoym, was a grandchild of princess Carolina of Orange-Nassau and Karel Christiaan of Nassau-Weilburg. Her grandfather on her mother's side, Willem of Nassau-Weilburg, was also their grandchild. This means that Emma was related to the House of Orange-Nassau through two family connections.