The roots of Grace Lutheran Church reach back to 1841 when it began as a union church begun by German Lutheran and Reformed congregations. At various times, the congregation was part of other Lutheran parishes. The building-sharing arrangement ended in 1893 with the German Reformed (now known as the United Church of Christ) members withdrawing. Construction began at the congregation's existing W. Main Street location in 1898, and the building was dedicated a year later.
Members took on a major renovation project in 1953, and an extensive rehabilitation effort in 1997 brought the church and its facilities to its present-day appearance. The congregation affirms its commitment to those in need through outreach activities including participation in the regional food bank and the annual CROP Walk. The church also hosts four levels of Girl Scout troops.