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Yes. In relation to Theodore, Franklin Roosevelt was a distant cousin who later become a nephew-in-law, when he married Teddy's niece, Anna Eleanor Roosevelt. Franklin and Theodore Roosevelt were both descendants from Dutch colonists, who settled in the New York area in the mid-17th century. According to any Franklin Roosevelt biography, the two were fifth cousins, having a paternal relative in common (Nicholas Roosevelt, 1658-1742).
In 1905 Franklin married his cousin, Eleanor Roosevelt. Her father, Elliott Roosevelt, was the brother of Theodore Roosevelt, president of the United States (1901-1909). Like her husband, Eleanor was a Democrat and took a strong interest in politics. In 1910 Roosevelt was elected to the New York Senate.