Robert married Elizabeth Mure around 1348, legitimising his four sons and five daughters. His subsequent marriage to Euphemia de Ross in 1355 produced two sons and two surviving daughters. Robert rebelled against the King in 1363 but submitted to him following a threat to his right of succession. David died in 1371 and Robert succeeded him at the age of fifty-five. The border magnates continued to attack English-held zones in southern Scotland and by 1384, the Scots had re-taken most of the occupied lands. Robert ensured that Scotland was included in the Anglo-French truce of 1384 and that was a factor in the coup in November when he lost control of the country first to his eldest son, John, and then from 1388 to John's younger brother, Robert. King Robert died in Dundonald Castle in 1390 and was buried at Scone Abbey.