Johnson, Edward F., Woburn Records of Births, Deaths, and Marriages, from 1640 to 1873. Part I - Births (Woburn, Mass. : Andrews, Cutler & Co., Steam Book and Job Printers. 1890) (Free e-book. Available at archive.org (https://archive.org/stream/woburnrecordsofb01john#page/n5/mode/2up))
"Massachusetts, Town Clerk, Vital and Town Records, 1626-2001," database with images, FamilySearch (https://familysearch.org/ark:/61903/1:1:F4NV-46P : 3 November 2017), Prudence Richardson, 17 Jan 1685; citing Birth, Woburn, Middlesex, Massachusetts, United States, , town clerk offices, Massachusetts; FHL microfilm 859,998.
Steele & Related Lines book 2) 2000 Steele, Robert Vernon
Woburn Record of Births, Deaths and marriages from 1640 to 1873 p291 by Johnson, Edward F. (974.44/W3 Vol 3 - Salt Lake City)
This person was created through the import of Bishop Family Tree.ged on 18 February 2011.
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Hi Alan, I'm going to disconnect Prudence as a spouse to Samuel Kendall (1682-1764). She is named as Prudence Kendall in her father's will in 1713. As Samuel, son of Thomas and Ruth was clearly married to Elizabeth at this time, I think you should be looking for a different Samuel Kendall who married Prudence before 1713.
Here's a link to the will. (It should be free to view although you may need to register for a free account): https://www.americanancestors.org/DB536/i/14466/19143-co7/3837740