Robert and Angela Ainsworth married in August 1985 while he was serving on active duty in the United States Army. They were stationed with the 25th Infantry Division in Hawaii. Robert was baptized in the Holy Spirit on the island of Oahu. In 1987 they were transferred to El Paso, Texas where Robert and Angela began a home bible study group. Just ten months later they were transferred to Munich, Germany where they started a church in their living room. They also supported and ministered at an Assemblies of God missions church serving U.S. service members and their families in Augsburg, Germany.
Robert was deployed to Saudi Arabia in support of Operations Desert Shield and Desert Storm. While in Saudi Arabia, Robert started a Service Men's bible study group prior to the arrival of US Army Chaplains into the area. Meanwhile, Angela continued to lead the home church in Munich and to support the missions church in Augsburg.
Upon returning from Desert Storm, they were transferred to Augsburg, Germany and they became the pastors and missionaries at the Assemblies of God Service Men's congregation in Augsburg. A couple of years later they were transferred to Barstow, California where Robert became the Associate Pastor of Barstow First Assembly of God church.
Upon receiving an honorable discharge from the US Army, Robert and Angela became the senior pastors of Oasis Christian Fellowship of the Assembly of God, an inner-city church in San Diego, California. Robert was an Area Advisor for the San Diego Area of Women's Aglow and ministered at their meetings and conferences on a regular basis. After several years, they moved to Cathedral City, California where they became the senior pastors of Cathedral of the Valley Church of the Assemblies of God, also known as the Palm Springs Assembly of God Church.
While serving as Pastors in Cathedral City, California, Robert and Angela befriended a Messianic Jewish congregation and it was while ministering during one of their services that the Lord revealed to Robert the Feasts Discipleship pattern. It was from that meeting, Pentecost 2001, that the Feasts Pattern was birthed.
Robert and Angela returned to their hometown in south Louisiana in order to research and write the Feasts book. It has been a labor of love and revelation and they pray that the Lord will use it for His glory and the blessing of the saints.