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Samuel Steele was born in 1762 in Pennsylvania. As a child he moved with his parents to Burke County, North Carolina. While still a teenager he enlisted in the North Carolina Militia and served in the Revolutionary War.

Following the war he married Jannett "Jane" Luckey and remained in Burke county for many years. Family traditions indicate that the Steele family and the Elisha Headlee family were neighbors and close friends. Five of Samuel Steele's daughters married five of Elisha Headlee's sons.

Both Steele and the Headlee families moved to Maury County, Tennessee and lived near each other. Many of the early settlers of Springfield area came from Maury County. Elisa Headlee's son John moved to the area in 1832 and other Headlee brothers (and Steele sisters) followed. Elisa Headlee moved to Greene county in 1836. Samuel Steele moved to Greene county in 1840 following the death of his wife Jane so that he could be where most of the rest of his family lived.

Samuel Steele died August 18, 1847 and was buried in the rural Mount Comfort Cemetery about 8 miles north of Springfield, Missouri.