Stephen was created by Pierce Egan the Younger in his Robin Hood serials as one of a bevy of elder brothers for Will Scarlet, here the youngest son of Gamwell hall. He does not exist in earlier tellings of the tale as in many of them Will is clearly made out as his father's only son and his position as such is often important to the story being told.
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1838 Robin Hood and Little John; or, the Merrie Men of Sherwood Forest, by Pierce Egan the Younger
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Stephan, along with his brothers Will Scarlet and Rupert proposing to Minny Meadows