In the spiritually hallowed atmosphere of Hazuri Bhawan was born a child on 27th July, 1930 at 8.45 p.m. in the same room in which his revered grandfather, father, and later his other brothers were born. His grandfather named him 'Agam', which means eternal, immortal, immeasurable, inscrutable. This child more than proved the justifiability of his name 'Agam' in later years by his extraordinary precociousness, prodigiousness, intellectual and spiritual calibre, and an unusually wide range of other talents and acquisitions. It is this child who in course of time became the Head and 'Guru of the time' of the Radhasoami faith and who is today universally known as "Dadaji Maharaj."

Dr. Mathur's parents played a very vital role in moulding and shaping his complete, perfect and balanced personality. He also inherited sharp intellectualism from his maternal side. His maternal grandfather was a renowned scholar. His mother (Bauaji) was equally a learned and highly talented lady. She was the very idol of love, affection, generosity and farsightedness. She always took sagacious, impartial and independent decisions and firmly stuck to them. She laid the seeds of high morals, noble ideals, firm character and strict discipline in all her children. Dr. Mathur was very espcially attached to her and followed all through his life the high ideals and values enunciated by her. She was certainly a unique and ideal mother.

Dr. Mathur's father was the only son of his father and only grandson of his grandfather. He was born and brought up in an atmosphere of wonderful plenty, prosperity and splendour on the one hand and deep spirituality and intellectualism on the other. But personally he loved simplicity and austerity. Though he served in the Postal Department for about 25 years, he did not involve himself in gross worldly affairs. He had a deep understanding and appreciation of the basic tenets and precepts of Radhasoami Faith. He was by all means a man of high ideals.

His understanding of men and matters, situations and problems, was always correct and penetrating. He had an extraordinary knack to take correct decisions in the most difficult situations. He took deep interest in Dr. Mathur's education from the very beginning. He moulded and shaped Dr. Mathur into a self-respecting and independent person. He wanted Dr. Mathur to play a very decisive and leading role in the further development and expansion of Radhasoami Faith. Dr. Mathur always remembers his father nostalgically with great reverence and veneration.

Dr. Mathur is the eldest son amongst his eight brothers and sisters. His brother next to him, Dr. Shabd Prasad, has gone to his heavenly abode. His other two brothers are Soami Prasad and Dr. Saran Prasad. Among the sisters one Shiromani Jiji is elder to him, and three younger sisters are - Santosh, Saroj, and Naveen. They are all happy, healthy and well off.