The Nativity Lutheran Church congregation began as a twinkle in the eye of the Board of American Missions of the Augustana Lutheran Chuch in 1955 when it became apparent there was a need for a new Lutheran congregation in the budding community of St. Anthony on the northeast edge of Minneapolis. The first worship service for the congregation was held in the St. Anthony Elementary School cafetorium on Sunday, December, 2, 1956 with Reverend Richard E. Lofgren officiating. In October 1958 the "first unit" in which the congregation would be housed on its present site was dedicated.

Pastor Gerald Hoffman, Nativity's second pastor, began his ministry with the congregation on September 1, 1979. Pastor Glenn Seefeldt began his ministry at Nativity as Associate Pastor on March 30, 1981. Upon Pastor Hoffman's retirement, Paster Glenn Seefeldt became senior pastor on March 1, 2000.

Pastor Carole Lundell joined the staff February 1, 2001 as Associate Pastor. She added the responsibility of youth ministry on July 1, 2002.

Matthew Flom was ordained as a Pastor and installed as an Associate Pastor of Nativity Lutheran Church on January 26, 2003. Pastor Flom left Nativity in April, 2005 and started his new position as mission developer for Living Presence, the newest Minneapolis Area Synod congregation, on May 1, 2005.

Nativity celebrated its 50th anniversary in 2007, celebrating generations of faithful servants: grateful for the past; embrancing the future.