As an adult, Robert lived first in New Kent Co, then the part of Old Rappahannock Co that became Essex Co. He, along with John Madison, was a signer of the 1688 New Kent Petition, the purpose of which was to remove the vestrymen of St. Stephen’s Parish. (VA Magazine of History & Biography, Vol 41, p 196) Robert was licensed to keep an Ordinary at Hobbs Hole (now Tapphannock) on 10-Apr-1693, and operated the Ordinary until his death in 1717. (Essex Co, VA OB 1, p 176) On 11-Apr-1700, Robert was appointed a member of the County Court (Essex Co, VA D&WB 10, p 46) and kept that position until he was appointed Sheriff of Essex Co on 27-Apr-1710 (Essex Co, VA D&WB 13, p 314)

Robert was listed on the 1704 Essex Co Quit Rent Rolls with 450 acres.  At court held for Essex Co on 10 Mar 1701, Robert Coleman was granted 1150 acres of land for the importation of 23 persons into the colony: Anne Spilsby, Elizabeth Yeates, Katherine Philips, Elizabeth Love, Anne Coleman, Robert Coleman, Mary Dealon, Michael Kelley, Patrick Carol, Samuel Platt, Hannah Huett, John Hudson, Brian Kagon, Mary Pursell, Robert Coleman, Reuben Shafton, Anne Coleman, William Dawson, Thomas Dawson, Marjery Sanders, Rebecca Moore & John Pasons.  Gent.  Justices of the Peace were John Catlett, Thomas Edmundson, Robert Brooke, Richard Covington & Robert Coleman.  (This is the same list of headrights used by Thomas Meriwether in 1703, with variant spellings.  Both lists contained only 22 names.)
After 1704, Robert Coleman was referred to in the records as Captain.  While a member of the County Court, an order was entered on 10 Feb 1704 that states "on motion of Capt Robert Coleman it is considered that the old prison at Hobbs Hole be appropriated to use as a schoolhouse and to no other use whatsoever." (OB 3, 147, Essex Co. Records)
11 Jul 1708: A note by Robert Coleman of Essex Co to Messrs Micajah Perry & Co, London merchants, directed payment of 10 pounds to George Ward.  (Essex Co VA Deeds & Wills No  13 1707-1711, John F Dorman)
On 11 Feb 1709, Robert bought land in the Burgh of Tappahannock for 170 lbs of tobacco, paid to John Catlett and Richard Covington (Essex Co VA Deeds & Wills No 13, p 223, Dorman)
Records of Essex Co VA Originals at Tappahannock, VA Deeds & Wills No 14, pp 43-44.  Lease and Release.  8th & 11th Apr 1712.  Thomas Pettit of St Stephen’s Parish of King & Queen Co sells Robert Coleman of S Farnham Parish, Essex Co 486 acres of land in Essex Co. Adjoins land of John Pleas and that of Capt Richard Wyatt and being part of a patent granted Mr George Morris and John Long 29 Sep 1667.  Also borders land of Katherine Long, now the wife of Capt Richard Wyatt, and was given by deed of gift made by Mr George Morris, to Thomas Pettit and Katherine Long (now Katherine Wyatt).  Signed Tho  Pettit.  Wit: Richard Buckner, Will Young.
Robert’s will was undated, but admitted to probate on 13 Aug 1713 by Elizabeth Faulconer.  The will was witnessed by Elizabeth Faulconer, Edward Faulconer and Samuel Dry.  "Unto my son Thomas, my son Robert and my daughter Elizabeth each of them 20 shillings Unto my son Edward Coleman half that tract of land that I purchased of Capt Thomas Pettet, the whole tract being 488 (486) acres, that part next and adjoyning to Botem’s line.  Unto my daughter Grisell Chamberline the other half of that land I purchased of Capt.  Thomas Pettet and for want of issue, to my daughter Anne.  To my loving wife Ann Coleman, all that my tract or seat of land that I have in possession at the place where I now live during her natural life and at her death my son Spilsbee Coleman have the land.  All the rest of my lands unto my daughter Ann Coleman.  All the rest of my estate to my loving wife Ann Coleman who I do appoint Executrix." (WB 13, p 439, Essex Co Records)