On 27 Sep 1792 when Stephen was 23, he married Rachel Benedict Hickock (55336) , daughter of John Hickock (39810) (17 Apr 1734/5-5 Apr 1810) & Lydia Kellogg (47195) (5 Apr 1740-19 Dec 1823).3 Born on 31 Jul 1771 in Waterbury, CT.3 Rachel Benedict died in Windsor, CT, on 13 Mar 1835; she was 63.3 Buried in St. Pauls Cemetery, Norwalk.

Children of Stephen and Rachel (Hickok) Camp:
    i. Nathan Camp, b. 22 May 1795;
    ii. Harvey Camp, b. 6 Oct 1798, m. Currence Hayes;
    iii. Amzi Camp, b. 21 Jan 1801;
    iv. Celina Camp, b. 19 Mar 1803, m. John Partrick; and
    v. Elizabeth Camp, b. 28 Oct 1805, m. Henry W. Smith.3