The Robert in this estate is the son of Rawleigh Tapscott who himsellf died c1811 here in Lancaster. The Robert that you have is most likely a descendant of James Tapscott ( ?-c1800) the brother of Rawleigh Tapscott.
To help clarify the lineage here is a chart.
Henry Tapscott( 27 Aug 1685-1727) married c1711 Ann Edney( ?-1773)
Their sonsI .Edney Tapscott(c1712- Jan 1782)
II.Henry Tapscott(c1716- 1781)
III.James Tapscott (c1722- 1770)
Henry Tapscott (c1716-1781) married twiceI. c1740Margaret Stott ( ?- bef 1758)
by whom he had 5 children in this order
I.James Tapscott(c1740/1- c1800)THE LINE OF THE ROBERT YOU SEEK
V.John Tapscott(died in Revolutionary War unmarried)
and married secondly Mary Shearman (c1740-1793) on 11 February 1758 Daughter of Rawleigh Shearman and Easter Chinn (1/2 sister of Mary Ball Washington) by whom the following children were born in this order
II .Martin Tapscott
III.Chichester Tapscott(c1770-1827)MY LINE
VII.Betsey (Elizabeth) Tapscott
VIII.Polly (Mary) Tapscott
IX.John Shearman Tapscott(born after Henry's will is written)
Henry II's oldest son James moved to Augusta County, Virginia after 1793, was a Presbytarian and a Medical Doctor trained at the University of Edinbourough in Scotland, having graduated in 1769 and served for 3 years (1790-1793) as the coroner of Lancaster County , Virginia.
The area he moved to is now Clarke and Botetourt Counties in Virginia. His first wife was Elizabeth Davis of Northumberland County and his second wife was the widow of Dr. John Woods, Mrs Susannah Woods.
By his first marraige he had a son Robert Tapscott(c1787-1826) who was married to Mary Jane Taylor, daughter of George Taylor and Lettice Paul Wade of Granville , North Carolina.
In turn , Robert had a son Robert Francis Tapscott (1817-1874) who married Lucy Frances Wood and they are both buried in Clarke County, Virginia.