Sometime in June of 1850, Missionaries of the Church of Jesus Christ of Latter-day Saints were preaching in North Newton, England. Robert and his friend George Eveleigh attended the meeting, and another two weeks later. Robert loved the principles the Missionaries preached and was baptized on June 17, 1850 the following Wednesday.
To afford to move west and join the other Saints in Utah, Robert received a job in Plymouth, England. While there, he converted six people to the Church of Jesus Christ of Latter-day Saints, one in particular being a young girl named Mary Grace Stevens. Robert and Mary were married on November 12, 1854, in Stoke Damerel, England.
By 1862, the Gregory family finally had the means to travel west. They sailed on the Antarctic on May 18, 1862 and arrived in New York City, New York on June 27. They arrived in Florence, Nebraska Territory by steamboat and train, and joined the Horton D. Haight Company on Aug 10, 1862. During the travel, Mary became very sick and died in Fort Laramie, Wyoming on Sep 15. In October, Robert began his trek again to Utah and arrived in the Salt Lake Valley on Oct 19, 1862.
After his arrival, an old friend of his, John Doney, persuaded Robert to move to Franklin, Idaho. He arrived on Nov 15, 1862. Robert met Selena Marshall in Franklin, and they were married on Jan 2, 1863 in Franklin, Idaho.
In 1871, the Gregory family purchased a farm in Cove and moved to their farm.