Elizabeth Stafford, Countess of Sussex paternal aunt was Margaret Dayrell who was wife to James Tuchet, 7th Baron Audley. Her maternal uncles included (among others) Anthony Woodville, 2nd Earl Rivers, Richard Woodville, 3rd Earl Rivers and Lionel Woodville, Bishop of Salisbury. Her aunts included Elizabeth Woodville and Mary Woodville, married respectively to Edward IV of England and William Herbert, 2nd Earl of Pembroke. Her first cousins included (among others) John Tuchet, 8th Baron Audley, Thomas Grey, 1st Marquess of Dorset, Richard Grey, Elizabeth of York, Mary of York, Cecily of York, Edward V of England, Margaret of York, Richard of Shrewsbury, 1st Duke of York,
Richard Woodville, 1st Earl Rivers 1385, 1390). Woodville followed his father into service with the Duke of Bedford. In 1433 the Duke had married the 17-year-old Jacquetta of Luxembourg; she was the Duke's second wife and he was significantly older and in ill health. When the Duke died in 1435, Jacquetta was left a childless and wealthy widow. She was required to seek permission from King Henry VI before she could remarry, but in March 1437 it was revealed that she had secretly married Richard Woodville who was far below her in rank and not considered a suitable husband for the lady still honoured as