Rob was born February 18, 1951, in Cheyenne, Wyoming, to Lewis “Pete” and Carol (Yost) Peterson.
He earned a bachelor’s in religion and psychology from Whitworth College and a master’s of divinity from North Park Theological Seminary.
He married Kathy Sellman on December 22, 1974. They were married until 2018.
They served churches in Fremont and El Cajon, California; Winnetka and Peoria, Illinois; Sanibel, Florida; and Stillwater, Minnesota.
He learned American Sign Language in order to better communicate with members of his churches who were deaf.
Survivors include children Joel Peterson (Elizabeth), Luke Peterson, Rachel Peterson, and Sarah Sacchetti, and three grandchildren.
A service was held August 7, 2021. Memorials may be directed to Young Life.