Madison learned at home for many of his early years. At age eleven, he studied under the tutelage of Donald Robertson of the Innes plantation. Madison studied mathematics, geography, languages, and history from Robertson, whom Madison credited later in life with developing his love of learning. At age sixteen, Madison studied for two years under the Reverend Thomas Martin. Madison then entered the College of New Jersey (later renamed Princeton University) where he studied history, government, and law. He graduated from college in two years.