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He was the son of Bartholomaus Kilian the elder and Maria Pfeiffelmann. After his father's death in 1583 his mother remarried Dominicus Custos and he and his brother Lucas became his pupils.[1]
From 1604–1608 he travelled in Italy and worked in Venice, Mantua, and Milan.[1] On his return he married and continued in the family workshop. He was the father of the engravers Bartholomaus the younger and Philipp.