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On her tomb, Joan is presented as a wealthy, fashionable woman. The large brooches which fasten her mantle match the design of her jeweled necklace. The nets holding her hair are richly decorated with gems; the elaborate headdress is carefully arranged so that viewers can admire her fine, high forehead. Perhaps some of Joan’s concern with appearance was due to her questionable status as the unacknowledged daughter of a royal father and of a mother marked by notoriety. Joan and Robert had no known children, and Robert’s heir, his nephew William, set up a chantry at the altar of Saint James in All Saints’ Church for a priest to pray for the good of their souls. Since Alice Perrers had left money for the church of Upmynster and for the poor, it seems fitting that remnants of her estate also helped fund the church in Kingston upon Thames.