He was Count of Burgundy and Count of Mâcon and Vienne. He participated in the Crusade of 1101, helping with the capture of Ancyra and fighting in the disastrous Battle of Mersivan. Stephen would later die at the battle of Ramla in 1102.
Beatrix died in 1116/1117.
Their children were:
2) Reginald III of Burgundy
3) William III of Mâcon
4) Clemence/Marguerite, daughter 1164, who married Guigues IV d"Albon, Dauphin de Viennois.