David met his first wife, Myra Kasman, at a "Star Trek" convention. They married in June 1977, with his childhood friend Keith serving as best man. Together they had three daughters, Shana, Guinevere and Ariel. They separated in late 1996, and were divorced by 1998. David began dating Kathleen O'Shea, a bookseller, puppeteer and writer/editor in 1998. After dating for three years, David proposed to O'Shea at the Adventurers Club in Disney World on September 3, 2000. They married on May 26, 2001 in Atlanta, Georgia. Their daughter, Caroline Helen David, was born on December 5, 2002, and named after David's late friend and coworker, Carol Kalish. David and his family live in Suffolk County, New York, on the south shore of Long Island, where his favorite local comics shop is Fourth World Comics in Smithtown, New York. David's father, Gunter, died of cancer on April 20, 2015. David's mother, Dalia, died May 27, 2017.