Robert Mugge was born in Chicago, Illinois where his father, Robert H. Mugge, was earning his doctorate in Sociology from the University of Chicago. Over the next two years, the family moved to Atlanta, Washington, DC, and then Raleigh, NC, as Mugge's father finished his dissertation on Black Migration in the South and began a career in state and federal government. In 1959, Mugge moved with his father, his mother Elizabeth Mugge (née Messersmith), and three younger siblings to the Washington, D.C. suburb of Silver Spring, Maryland, which the family made its permanent home.