Robert Wilentz was born on February 17, 1927 in Perth Amboy, New Jersey to David and Lena Wilentz. During Robert's childhood, his father was Attorney General of New Jersey, in which role he prosecuted Bruno Hauptmann for the kidnapping and murder of Charles Lindbergh Jr., one of the highest profile criminal cases in American history. David Wilentz was also a powerful political boss in Middlesex County.