Joseph traveled to Utah in 1852 with the Robert Wimmer Company. He is listed on the roster as "Warren" and "W" Hancock. A few of his family members are also listed on the roster.
He is seen on the trail again in Alvus Patterson's 1863 out-and-back company. He was serving as a sergeant of the guard, sent by the Payson Ward.
He married Clarissa Degraw, who also traveled in the Wimmer company, in 1855.