He was born in Elizabethtown, New Jersey and became a surveyor and lawyer. He became clerk of the Provincial Assembly, High Sheriff of Essex County, and was elected to the Provincial Congress in 1775. He represented New Jersey at the Second Continental Congress in 1776, and served in Congress thorough the Revolutionary War. He was a member of the Committee of Public Safety. He retired before the Constitutional Convention in 1794.
Clark Township, New Jersey is named for him.