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Yes, he married Mileva, but divorced her many years later and married his first cousin, Elsa, instead. He had 3 children with Mileva. The eldest child, and his only daughter, Lieserl, he never met, for they put her up for adoption before he had the chance. He had two sons, first Hans and then Eduard, which he did meet, but he was not a very good father to them. He had no children with Elsa.

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Q: Did Albert Einstein ever get married or have children?
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