When Robert William Keifer was born on 21 August 1925, in Royal Oak, Oakland, Michigan, United States, his father, Ernest Henry Keifer, was 23 and his mother, Bessie Irene Black, was 21. He married Nancy Katsuko Nakachi on 19 August 1977, in Lakeland, Polk, Florida, United States. He died on 27 March 2002, in Lakeland, Polk, Florida, United States, at the age of 76, and was buried in Glen Abbey Memorial Gardens, Auburndale, Polk, Florida, United States.