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Kensington is situated in Rockingham County, New Hampshire. Originally the parish of Hampton was settled by a group led by Reverend Stephen Bachiler, who received a grant from the Great and General court of Massachusetts in 1838. It was incorporated in 1737 by New Hampshire Governor Jonathan Belcher, who renamed it after Baron Kensington, who owned Kensington Palace in London. Early on, the agricultural town was also known for shoemaking and farms, and of course the usual sawmills, grist mills, and tanners.

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