Is that family on the 1841 census yours? If not there are a number of them on Family Search but you have to do the searching.
Joshua and Judith were married in Rotherham Minster in 1801. St Mary's didn't open until 1826 probably one of the reasons for not having the children baptised as infants.
So decide if they are the right family or not and yes you probably need to come forward one generation.