Penn married Hannah, daughter of John Lardner, and had two sons, John and Richard, both of whom also served as governors of the Province of Pennsylvania.
On 12 May 1732, Penn with his brothers John and Thomas as the proprietors of Pennsylvania, signed an order to create a commission. This order was directed to Governor Gordon, Isaac Norris, Samuel Preston, James Logan, and Andrew Hamilton, and to James Steel and Robert Charles. The commission, which was to be made up of at least three or more of these individuals, was given full power on behalf of the proprietors for the "running, marking, and laying out" of any boundary between Pennsylvania and the Province of Maryland.