David Mills was born near Wallace, North Carolina, in 1939, where he grew up on a family farm. After high school he attended Ambassador College in Pasadena, California, and he graduated in 1962.

Since that time he has served as a minister of the Church in Washington, Florida, North Carolina, South Carolina, Oregon, West Virginia, and Virginia. He and his wife, Sandy, have been married since 1965 and they now live in Georgia.

David retired from the full-time ministry in 2015.