Robert Carter came on the Mayflower as a servant, or apprentice, to the William Mullins family. Nothing has been conclusively discovered about his English origins, although presumably he came from the Carter family seen living in and around Guildford and Dorking, co. Surrey, where his master William Mullins came from.
William Mullins, in his will of 21 February 1620/1, requests that John Carver and "Master Williamson" (likely a pseudonym for William Brewster) look after Robert Carter because he "hath not so approved himself as I would he should have done." This would suggest the boy was likely a teenager. Robert Carter died sometime the first winter, presumably in late February or March 1621.