Tanaji came from a Hindu Koli family.Tanaji's father's name was Kaloji Malusare. His family was from Godoli village, which is situated near Pachgani. He spent his childhood there. When Shivaji appointed him to curb robbers of Poladpur, Mahabaleshwar, he then migrated to Umrath village. Tanaji had a son, Rayba Malusare and a brother Suryaji Malusare. His uncle Shelar Mama was also in the service of Shivaji. He postponed his son Rayba's wedding to win the Kondana fort from Mughals. Legends say that he took the responsibility to win that fort and said, "Aadhi Lagan Kondhanyache aani mag majhya Raybache"