Robert W. Barclay, 58, a private consultant and a former Capitol Hill aide who worked on health legislation, died of cancer Tuesday at at George Washington University Hospital. He lived in Garrett Park, Md.

Mr. Barclay, who was born in Huntsville, Ala., graduated from Baldwin-Wallace College in Berea, Ohio. After World War II service as a Navy officer in the Pacific, he moved to the Washington area and joined the U.S. Public Health Service.

In the early 1950s, he worked in the Executive Office of the President with the Health Resources Advisory Committee. At the time he left the PHS in 1960, he was assigned to the Office of the Surgeon General.

From 1960 to 1969, Mr. Barclay was the sole staff member of the subcommittee on health of the Senate Labor and Public Welfare Committee, working with the late senator Lister Hill (D-N.C.). He helped draft health planning legislation, bills to aid the education of doctors, nurses, dentists and other health professionals, legislation for community mental health centers and similar matters.

In 1969, Mr. Barclay went into partnership with the late Noble J. Swearingen and established a legislative consulting service, specializing in health issues. Mr. Barclay continued this work until his death.

Survivors include his wife, the former Kathryn Stevenson, of Garrett Park; three daughters, Pamela, of Washington, Elizabeth, of Chevy Chase, and Kathy, of Garrett Park; four sons, Dr. Roger, of Fairmont, W.Va., and Jeffrey, Robert Jr., and Thomas, all of Garrett Park; his mother, Elizabeth Barclay of Teaneck, N.J.; a brother, Charles, of Paramus, N.J., and two sisters, Janet, of New Canaan, Conn., and Nancy, of Santa Paula, Calif.