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Robert Witherspoon (January 29, 1767 – October 11, 1837) was a U.S. Representative from South Carolina, great-great-grandfather of Robert Witherspoon Hemphill.
Witherspoon was born near Kingstree, South Carolina as the son of a Scots-Irish father, Robert Witherspoon (1728–1778) who was born in County Down, Northern Ireland and settled in the Province of South Carolina. His mother was Elizabeth Heathly Witherspoon (1740–1820), who was born in South Carolina. Robert Witherspoon attended local schools.
Witherspoon was elected State treasurer in 1800 and served one term. He was a member of the South Carolina House of Representatives from 1792 to 1794 from 1802 to 1804 and from 1806 to 1808.
Witherspoon was elected as a Democratic-Republican to the Eleventh Congress (March 4, 1809 – March 3, 1811). He declined to be a candidate for reelection. He had large planting interests in Sumter County, South Carolina. He opposed the nullification act in 1832. He died near Mayesville, South Carolina, October 11, 1837. He was interred in the Salem Brick Church Cemetery.