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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).
He was a successful student and did well at Harvard University and Columbia Law Schools, before being admitted to the New York bar in 1907. 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.