Lescrauwaet resigned as auxiliary bishop of Haarlem on 22 March 1995.
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Lescrauwaet was appointed auxiliary bishop of Diocese of Haarlem on 19 October 1983 as well as Titular Bishop of Turres Concordiae and was ordained bishop on 14 January 1984.
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The consecration took place on September 18, 2010 by bishops Antonius Lambertus Maria Hurkmans, Frans Wiertz and Joseph Frans Lescrauwaet.