Dudo-Henry of Laurenburg married Anastasia of Arnstein an der Lahn (near present day Obernhof), daughter of Count Louis II of Arnstein (Anastasia, possibly as heiress to Louis II, had claims on the Vogtship of Koblenz). Three children were born of this union:
Robert (Ruprecht) I, Count of Nassau (1123–1154)
Arnold I, Count of Laurenburg (1123–1148)
Demudis, who married Emich, Count of Diez