David was born in Independence, Missouri, and spent most of his life in the area except for four years as a boy in Albuquerque, New Mexico. After attending Graceland College and the University of Missouri at Kansas City, he finished his B.S. degree in electrical engineering at the University of Missouri at Rolla (now MST) where he earned a B.S. degree in electrical engineering. He worked as an electrical engineer for 39 years and was a licensed professional engineer in six states until his retirement in 2014. He and his wife, Kay, were married in 1972 and have three married children; Bruce, Heidi, and Laura; and five grandchildren; Annie, Colin, Finn, Aria, and Rhys; all living in the Kansas City area.
He was raised in the RLDS church, being baptized at age eight, and has heritage in it through both parents, Robert and Ruth. Beginning in 1969 he served in the offices of deacon, priest, elder, and was ordained a high priest and member of the Standing High Council in 2001, and president of the Quorum of High Priests in 2002. In 2019 he was set apart as a counselor to the president of the church. He and Kay are charter members of the Remnant Church and attend First Congregation in Independence. He spent two years as pastor of an independent branch, and a total of eight years as pastor at First Congregation of the Remnant Church.