Zion's Camp (lds.org)
William Warren Taylor and his wife Elizabeth Patrick settle in Fishing River Missouri in 1830.
At this time, William Taylor and his family were located on a slight elevation of land between two forks of the Fishing River. When Zion's Camp reached this place, they were forced to stop to mend some of their wagons and to search for some of their horses which had wandered away.
Enemies of the church had made threats against the Camp, but before they could be carried out, a furious storm arose. So much rain fell that the river became an impassible torrent. The members of Zion's Camp were forced to take refuge in an old church and in the homes of the Saints nearby. The storm routed the mob who fled in panic.
Joseph Smith and his followers remained in the vicinity until the following Sunday, when services were held and the doctrines of the Church expounded. William listened to one sermon and was immediately converted. Before the Camp moved on, he and his wife and his children eight years or older were baptized in the Fishing River. They had been converted too. There were twenty-eight members of the family and friends also who were baptized at that time.
William W Taylor was the first person to accept the Gospel and the first man in the State of Missouri to be baptized into the Church. Shortly after this, he was ordained an Elder in the Church and became an earnest preacher of the Gospel.
Two days, after meeting Joseph Smith, William manifested his confidence in the Prophet by fitting up his own son and his son-in-law with provisions, munitions and equipment allowing them to become members of Zion's Camp.
Though William, his son, and his son-in-law are not recorded officially as members of Zion's camp, they finished the trek with the elders of Zion's Camp.
James Lake's (b. 7 Oct 1788) sons Dennis and Cyrus Lake were members of Zion's camp though I can only find Dennis Lake in the official record.