He was born the son of Abram and Susan (Harder) Baerg on October 22, 1949, in Mountain Lake, Minnesota. He was raised on the family farm near Delft, Minnesota, and graduated from Windom High School with the class of 1967. He attended Grace College of the Bible (now Grace University) in Omaha, Nebraska. He was united in marriage to Coreen Risdon on February 5, 1972, at the Victor Baptist Church in Victor, Iowa. There were blessed with five children, Tom, Cam, Andy, Danielle and Josh. The couple lived in rural Delft for a short while following their marriage. In 1975, they moved to Iowa and raised their family and farmed west of Williamsburg. In 1980 the family moved to Glendale, Arizona, and returned to rural Williamsburg in 1981. He was a member of the Victor Baptist Church.
Bob had a passion for farming and raising dairy cattle, and was proud of his John Deere tractors. He had a strong love for his family and was famous for his unexpected visits. His enjoyments were telling stories, spending time with his grandchildren, attending Farm Progress shows and the Threshers Reunion, and traveling back to see family in Minnesota.
Bob is survived by his children, Cam (Bryce) Post of Chicago, Illinois, Andy (Laura) Baerg of Farmington, Minnesota, Danielle Baerg of Los Angeles, California, Tom (Jill) Baerg of Williamsburg, and Josh (Caitlin) Baerg of Charleston, South Carolina; 12 grandchildren, Hayden, Lucy, Brady, Parker, Gerrit, Gavin, Jason, Nigel, Halibel, Aizen, Clarence, Milton; and two brothers, Bill Baerg and Allen (Tina) Baerg, both of Delft, Minnesota. He was preceded in death by his parents.