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He died in 2370, when Kes was one year old. Kes said that he was the greatest influence in her life and he helped her formulate her opinions and give her strength to leave her underground city, which led her to join the USS Voyager. (VOY: "Dreadnought", "Resolutions")
During one of Kes' jumps back in time due to radiation poisoning from a Krenim weapon, she met her father in 2370 when she was approximately six months old. During another, she witnessed Benaren assist her mother in delivering her. (VOY: "Before and After")