In 1798, he established a free children's day school, located on Kent Street near London Bridge.
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While there, he was active in religious and philanthropic work, helping with the Field Lane Ragged Schools (with which Charles Dickens was associated), assisted with Regents Park College and Rev. Dr. William Landells' Baptist church at Regent's Park, where he led the young men's Bible class.
It was built as the "Elizabethan Ragged School" and paid for by Laurence Sulivan, the grandson of Laurence Sulivan MP, chairman of the East India Company.
The Rev. Dr Thomas Guthrie’s original Ragged School — later called the "Industrial School" — had been established in 1847 in Ramsay Lane as an orphanage, primarily for boys.
After barely surviving the fire at Ragged School which separated the friends, Grip settled as a fireman on a steam vessel Vulcan, making regular trips between Dublin and the United States.
The museum was opened in 1990 in the premises of the former Dr Barnardo's Copperfield Road Ragged School.