She married James Keith Shelley in 1957 in Harrow; he became her manager and accompanied her to engagements, but they decided not to have children. Following her retirement as a singer, she did perform and record some spoken roles, for example the role of the narrator in Britten's incidental music for The Rescue of Penelope; in later years, apart from occasional public appearances such as the 2009 Leeds event, she said she had "nothing to do with anyone except close friends". Those friends include the singer Felicity Lott, pianist Imogen Cooper, conductor Jane Glover and actress Patricia Routledge, all of whom appeared in a BBC documentary profile, Janet Baker in her own words, shown in 2019. After her husband suffered a stroke, she cared for him at home. He died in June 2019.