Steve was born near Asheville, North Carolina, and was raised a Methodist. He attended High Point College, where he earned a BA in philosophy, and Boston University, where he earned the Bachelor of Sacred Theology. After pastoring a church on Cape Cod, he assumed the role of senior pastor at First United Presbyterian Church in Quincy, Massachusetts. He pastored there, wrote his first book, and hosted the "Sounds of Praise" radio ministry until 1974, when he moved to Key Biscayne Presbyterian Church. In Key Biscayne, Florida, he pastored for seventeen years and started Key Life Network. After he had written several books, King College awarded him a Litt.D. During this time he was part of a television show called "Hashing It Out", where he and his friend Tony Campolo would debate current events and theological issues. He is a teetotaller.