Bifur, Bofur and Bombur were descended from the Dwarves of Khazad-dûm, but not from the royal house. Note that the relative ages of these three Dwarves are never established, so this genealogical tree follows the name order preferred throughout The Hobbit.
After the Quest, Bofur settled in the reclaimed Erebor, and was said to still be living there at the time of the War of the Ring, some seventy-seven years later.
Bofur's relations to the other Dwarves of the Company are a little uncertain. It is clear that he was most closely related to Bifur and Bombur, but the details are difficult to discover. The most direct statements we have indicate that Bofur was the brother of Bombur, with Bifur being their mutual cousin. It seems strange, given that relationship, that Bifur and Bofur arrived at Bilbo Baggins' home wearing yellow hoods, while Bombur wore a pale green one, where we might have expected the brothers Bofur and Bombur to share a colour. This is possibly a hint that Tolkien revised his idea of the relationships of these Dwarves during the writing of The Hobbit.
Fíli and Kíli were known to be the youngest of Thorin's companions by some fifty years. The elder brother, Fíli, was born in III 2859, so Bofur must have been born at least fifty years before that date.
Like many other Dwarves in Tolkien's work, Bofur's name comes originally from the Old Norse poem Völuspá, where it appears in the form Bávor. The translation is not certain, but some sources suggest variations on 'one who grumbles'.