 He was baptised at Drayton Parslow, Buckinghamshire, on 29 June 1630, the son of Robert Sharrock.His father was rector of Drayton Parslow from 1639 to 1642, and of Adstock, Buckinghamshire, from March 1640 till his death in September 1671; his wife's name was Judith.The son Robert was admitted a scholar of Winchester School in 1643, and was elected Fellow of New College, Oxford, on 5 March 1649 by the parliamentary visitors.