Hi Crisane and many thanks for your replies. Firstly you are quite right. I should have said Joseph's parents were William and Catherine, NOT Joseph and Catherine. So sorry.
I too cannot find Joseph on the 1891 when he should be with his parents William & Catherine, nor on the 1901 census, which is very odd. But as you say he is there on the 1911 and also I have his marriage certificate when he married Florence Webster in Leeds, Dec. 1911 and says his age then was 27 yrs.
I'm actually doing this on behalf of a friend who was struggling and I can see why!!