Kris was having an affair with Todd Waterman and Robert found out and subsequently divorced her.
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They got divorced because things weren't working out. He later got married (as did Kris) but he passed away a month later from cancer.
Kris Jenner is their mother and Robert Kardashian is their father. The girls names in order of birth are: Kourtney Mary Kardashian (April 1979) and Kimberly Noel (October 1980) Kardashian and Khloe Alexandra Kardashian (June 1984)
Robert Kardashian
Kim Kardashian and her mum Kris Jenner.
Kris Kardashian
Kourtney Mary Kardashian 1979 Kimberly Noel Kardashian 1980 Khloe Alexandra Kardashian 1984 Robert George Kardashian