Historical Records indicate that Samuel R Underwood was born to:
Father ~Samuel Underwood, who was born on 1 February 1723 in Chelmsford, Middlesex Co, Massachusetts (son of Aquilla Underwood 1693-1767 FAG ID 179486443 and Margaret Tuttle Underwood 1699-1780 FAG ID 179486477) ~
Mother ~ Mary Maurette Belden (a few records also show Belding), who was born on 15 February 1727 in Massachusetts (daughter of Samuel Beldon 1689-1771 and Mary Spencer Belden 1692-1751) ~
This line has stopped here until more substantial information can be found that verifies this is correct. Until, or unless, additonal information indicates otherwise, Maurette "Mary" Belden, is listed as his mother ~
NOTE: There is another Samuel Underwood born in 1719 that many have confused with this line. He, too, was married to a "Mary" but it appears her maiden name was Knapp.

Beckett Massachusetts Vital Records to 1850 (Marriage)
FLETCHER, Jemima of Loudon (later Otis), and Samuel Underwood, Nov. 28, 1799.
Known children: Mary, Oliver, Lovicy, Jemima, Eri, Lucinda, Sarah and John.

Military Service
Revolution: Corporal in Capt. Clark's company. Col. Sears's regiment, 3 mos. 21 days, up the Mohawk River.

Pioneer Families of SE Michigan by Helen Lewis: Samuel Underwood b ca 1766 Mass and wife Jemima (Fletcher) of Otis, Berkshire Co, Mass moved in 1814 to Parma Monroe Co NY. In 1832 they moved to Leoni Twp Jackson Co Michigan where they were in the 1840 census index. Samuel, age 84, was in the 1850 census in the household of known son Eri e b 26 Aug 1806 Mass. Other sons Orson & John.

1810 United States Federal Census
Name: Saml Underwood
Township: Otis (formerly Loudon)
County: Berkshire
State: Massachusetts
Free White Males Under 10: 2
Free White Males 10 to 15: 1
Free White Males 26 to 44: 1
Free White Females Under 10: 2
Free White Females 26 to 44: 1
Number of Household Members Under 16: 5
Number of Household Members Over 25: 2
Number of Household Members: 7

1830 United States Federal Census
Name: Samuel Underwood
Home in 1830: Parma, Monroe, New York
Free White Persons - Males - 10 thru 14: 1
Free White Persons - Males - 20 thru 29: 1
Free White Persons - Males - 60 thru 69: 1
Free White Persons - Females - 5 thru 9: 1
Free White Persons - Females - 15 thru 19: 1
Free White Persons - Females - 40 thru 49: 1
Free White Persons - Under 20: 3
Free White Persons - 20 thru 49: 2
Total Free White Persons: 6
Total - All Persons (Free White, Slaves, Free Colored): 6

1840 United States Federal Census
Name: Samuel Underwod/[Samuel Underwood]
Township: Leoni
County: Jackson
State: Michigan
Free White Persons - Males - 20 thru 29: 1
Free White Persons - Males - 70 thru 79: 1
Free White Persons - Females - 15 thru 19: 1
Free White Persons - Females - 60 thru 69: 1
Total - All Persons (Free White, Free Colored, Slaves): 4
Persons Employed in Agriculture: 2
Free White Persons - Under 20: 1
Free White Persons - 20 thru 49: 1
Total Free White Persons: 4
Total All Persons - Free White, Free Colored, Slaves: 4

1850 MI Census Jackson Co Leoni
Evi (Eri) Underwood 44
Margaret Underwood 28
Henry Underwood 3
Mary Underwood 2
Samuel Underwood 84 (father)
Lorvetus Moiger 4/12

Abstract of Graves of Revolutionary Patriots
Name: Samuel Underwood
Cemetery: Leoni Cemetery
Location: Leoni, Jackson Co MI 83
Reference: Abstract of Graves of Revolutionary Patriots, Vol.4,