Stepfather and stepson? I think it's pretty clear that they are biological father and son.
For example, towards the beginning of the 5th episode when Paul is eavesdropping on Rory and Estelle in the kitchen, Rory says about Paul: "Later on today the two of us, father and son, are hosting a men's consciousness raising group".
Later on in episode 5 when Paul is talking to his friend Jeff Shaw about Rory he says: "I know my eldest son better than anyone else in the world".
In episode 2 Paul says "Why is it that while you girls are discussing your relationship with this [some word I can't make out] (referring to Daniel), Rory's left out of it? It's nothing to do with me of course, I'm just his father (referring to Rory), and his father (referring to Daniel)."
And the text at the very end of episode 6 mentions "Which is still less than any of his children".
I'm pretty sure there's other references to all 3 being Paul's children but I think that's enough examples. Also, I could remember wrong, but I thought the other sons sometimes call him Paul as well? Couldn't remember any specific times though so I'm not totally sure.
As for their ages, we know that Paul is 44 turning 45 because in episode 1, Estelle says to the woman on the bus on the way to work that Paul will be "45 next birthday". As for Estelle, early in episode 1 when she's examining her upper arms in the mirror she says "I'm not happy with my upper arms. No woman over 40's happy with her upper arms". It's mentioned that Paul and Estelle were married young (episode 6 when Estelle is talking to Gwendolen), and that they met at a party when they were both students it seems (episode 6 when Paul is hypnotised), which makes me think that they're around the same age. Therefore, even though the actress was 38 when it came out, her character is supposed to be older, obviously over 40, and maybe either the same age or a bit younger than Paul.
In episode 3, Edwin says that he's 16. As for Daniel, in episode 1, Paul says to him "You're a graduate now, shouldn't you be taking over the world or something?". Whether this means high school graduate or university/college graduate, they don't say. In episode 2 Daniel says "I'm not just some callow, sexist student. I'm Daniel Slippery", which makes it sounds like he is a student (just not a callow and sexist one). So this makes me think he just graduated high school and is now in university (so I'm not sure how the job fits in with that then - maybe it's just part time?). I'm not sure what age that would make him - maybe someone from the UK would be able to answer that question better (JudyBT said 17). If he's a university/college graduate then maybe he's more like 20. Rory doesn't seem to be too much older than Daniel, as they're both starting their first jobs/work experience, move out together, used to pick on Edwin together (as Edwin is telling Woj in episode 6), and then there's their relationships with Laura and Lucy. Rory's doing work experience so maybe he's just out of university, or perhaps even still studying. So, I would assume maybe if Edwin's supposed to be 16, maybe Daniel would be around 18/19/20, and Rory 20 or 21. So maybe Rory was born before they were married, but I definitely can't find any reason to believe he's from a previous marriage/relationship of Estelle's, and as shown above, there's plenty of evidence against that theory. Plus with different fathers, Rory and Daniel would have to have a bigger age gap I would think, which as I mentioned before, I don't think they do. Maybe Paul and Estelle got married partly because Estelle was pregnant with Rory? Estelle does mention to Gwendolen in episode 6 that "We were married young. We didn't know each other, not really". But there's nothing to back up that possible theory, it was just a thought, and seems to fit the timeline.
Oh and trying to guess how old the characters are supposed to be based on the actors' actual ages is pretty unreliable considering Benedict Cumberbatch (Rory) was 27, and both Neil Henry (Daniel) and Joe Van Moyland (Edwin) were 20 when the series came out. As kralvarez1987 says, it's not unusual for older actors to play younger characters, and I think they look pretty well the ages that the characters are supposed to be. I certainly don't think Benedict looks 27 in the show, and Joe looks more 16 than 20!
So say Estelle was around 22 and Paul around 24 when they got married, and they had Rory pretty much straight away, it would make their ages in the series approximately: Estelle 42, Paul 44, Rory 20, Daniel 18 and Edwin 16.
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