In 1572 John was succeeded by his elder half brother, Robert Sempill as the fourth Lord Sempill. This Robert assisted in the baptism of Prince Henry in 1594 and personally attended on the queen at a banquet that was held in celebration in the great hall of Stirling Castle. Robert was also appointed as a Privy Councillor by James VI of Scotland and was sent as an ambassador to Spain. However later Robert would not renounce the Catholic faith and held no more public offices. (See: Robert Sempill, 4th Lord Sempill).