His parentage is unknown, but names in his family suggest he descends from Thomas Hankins who died 1748 in Frederick Co. Va.

The family moved to the area that became Jefferson Co., by 18 Oct. 1810 when his daughter, Elizabeth, married John Chambers in what was then Clark Co. The family apparently came immediately to the Indian-Kentuck area. Joseph's first official record in Jefferson County came on 23 July 1812 when he was sued for failing to deliver a horse to James Noble. Joseph's first land record comes when he entered 160 acres in Section 11 Township 4N Range 11E on 30 June 30, 1827. This land is on the East Fork of the Indian Kentuck Creek in Milton Twp. Joseph probably the only minister at the Milton Baptist Church in its first iteration. The church was formed in 1829 and was a member of the Coffee Creek Association. Joseph is reported as minister there in Sept. 1832. The annual association minutes do not list the minister each year. However, Joseph's son, Aaron Hankins, was a delegate to the association in 1830, and son William was a delegate in 1831.