Benjamin Banneker was born to Robert, a freed slave, and Mary Banneky, the daughter of Molly Welsh, a white indentured servant, and her husband Bannaka, a formerly enslaved man. This mixed-race heritage was a defining aspect of Banneker's early life.

Banneker never married and lived a relatively solitary life on his family's farm. He was deeply devoted to his intellectual pursuits and preferred the quiet solitude necessary for his astronomical observations and calculations.

Banneker formed a close relationship with the Ellicott family, particularly George Ellicott, who provided him with books, scientific instruments, and encouragement. This mentorship was crucial in supporting Banneker's intellectual development.

Banneker developed relationships with abolitionists and social reformers who recognized his intellectual contributions and championed his work as evidence against slavery. Joseph Townsend was one of the earliest.