Heinrich was the son of Albrecht von Zelking and Elisabeth von Wallsee. The date and place of his birth have not been found.
He had two marriages/partners. His first wife was Katharina von Leibnitz. They were married, but the date and place have not been found. Their three known children were Anna (?-?), Elisabeth (?-?) and Stephan (?-?).
His second wife was Elisabeth von Stechau. They were married, but the date and place have not been found. They had no known children.
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