Going back as far as the 1990s, some members of Grace Baptist Church of Carlisle, Pa. had a concern to see a Reformed Baptist church planted on the West Shore of Harrisburg, Pa. A number of these members lived on the West Shore, but faithfully traveled to Carlisle to hear God’s Word preached. In 2008, the concern to have a Reformed Baptist church on the West Shore began to be realized when the elders of Grace Baptist Church prayerfully considered the possibility.
 
The result of the elders' prayerful analysis was that there was both a desire and a need to have a Reformed Baptist church on the West Shore. Therefore, a plan was proposed and began to be implemented in 2010. A Bible study that had been meeting on the West Shore for years became the initial core group for the new church.
 
This core group was encouraged to begin an evening service in August, 2011. The group met in the basement of the Camp Hill United Methodist Church. The Lord blessed this time of worship and fellowship. New families joined with the group. The core group, along with the people of Grace Baptist Church, were encouraged to press on in God's providence to secure a three year lease for a commercial facility where Sunday school and morning worship could begin and where other weekly activities or services such as prayer meeting could be held.
 
The core group voted to call the new church Grace Reformed Baptist Church (GRBC). They constituted as a church in October 2012.

Within a short amount of time, GRBC became financially independent from Grace Baptist Church and issued a call to its first pastor in 2014. The church grew in numbers, unity, and love for one another. In 2016, GRBC was a constituting member of the Reformed Baptist Network (RBNet), to which it still belongs.

In April 2019 Pastor Craig Riggall began his ministry at GRBC and has served the church since.