Roman Era
This office appears as early as the fourth century in Tome under the names: Tribunus Stabuli and later Komes Tou Staulou.
Early England and France
The name of the office was termed Konstable or Konostaulos.
Englands Hereditary Constable Dynasty
William the Conqueror came to England from Normandy France in 1066. He brought along others with him. One person was Roger De Pitres (1035-1083). Roger built Gloucester and was appointed by William to be the Constable of Gloucester. Roger is the progenitor of the English Constable Dynasty.
Another person that came to England with William was Humphrey de Bohun I (1040-1113). Roger’s great-granddaughter Margaret married Humphrey de Bohun III and began the Bohun era.
England before William Penn
High Constable Register 1681
Constable Era and Police Era
https://www.britannica.com/topic/police/The-decline-of-constabulary-police