Dr. Clark was educated at the University of Nebraska (BA), Westminster Seminary California (MDiv), and St Anne's College, Oxford University (DPhil). He was a minister in the Reformed Church in the United States (1988-1998) and has been a minister in the United Reformed Churches in North America since 1998.

He is Professor of Church History and Historical Theology at Westminster Seminary California, where he has taught since 1997, during which time he also served as Academic Dean (1997-2000) and the host of the Office Hours broadcast (since 2009). and has also taught at Wheaton College, Reformed Theological Seminary, Jackson, and Concordia University, Irvine.