Pieter Stefanus Steenkamp was born on 29 November at Gatsrand in the Potchefstroom district.
He fought in the first freedom war at Rustenburg and was promoted in 1881 to assistant veldcornet.The next year in the expedition against Nyabela he was promoted to veldcornet and in 1894 the fought again against Malebogo.
His parents moved from Potchefstroom to Lydenburg and again to Rusterburg and on 22 March 1890 he was again veldcornet of the Hoogeveld ward.
In 1899 he became commandant and went to the western border.
He fought at Mafeking were the Marico and Rustenburg commandos won the battle against Kol H.C.O. Plummer. From there he went to Johannesburg to help with the attack against lord Roberts.
On 28 May1900 he was wounded severely near the Kliprivier. He laid still till nightfall and went on foot to Roodepoort and from there with General Lemmer to the Western Transvaal.
He fought again in the Western Transvaal and was wounded again near Slypsteenkop.
On 29 January 1901 he was wounded for the third time at Vlakfontein.
He fought again at Moedwil against Kol R.G. Kekewick and on 24 October against Kol S.B. von Donop near Zeerust.
He died on 3 February 1920 at Naauwpoort in the Rustenburg district.