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Her first husband was the club owner Mark Birley , founder of Annabel's, the nightclub in Mayfair London, opened in 1962. The couple were married at London's Caxton Hall in 1954. The couple had three children: Rupert, Robin and India Jane. Rupert died in mysterious circumstances in Africa in 1986.
Her social circle included the gambler and zoo-owner John Aspinall and the notorious Lord Lucan, who disappeared in 1975 after murdering the family nanny.
In 1964 she met the entrepeneur James Goldsmith, and began an affair with him. The couple's first child Jemima was born in 1974, followed by the birth of their son Zak. In the 1978 the couple married to legitimize Jemima and Zak. A third child, Benjamin, was born in 1980. Sir James Goldsmith died in 1997 of pancreatic cancer.
Her autobiography is entitled Annabel, An Unconventional Life: The Memoirs of Lady Annabel Goldsmith.