Larson was born February 25, 1929, in Wadena, Minnesota. He earned a Bachelor of Arts degree from Augsburg College in Minneapolis, where he majored in Greek. He earned a Bachelor of Divinity degree from Bethel Seminary in St. Paul. He also attended North Park Theological Seminary. He was ordained in 1964.
Larson married Joan Baxter on June 8, 1951.
He served Redeemer Covenant Church in Chicago, as well as churches in Minnesota: Anoka Covenant Church, Bemidji Covenant Church, Edina Covenant Church, Elim Mission Covenant Church in Cokato, Park Avenue Covenant Church in Minneapolis, and Crosstown Covenant Church, also in Minneapolis. He also served as interim pastor and did pulpit supply for churches throughout northeastern Minnesota during his retirement.
In addition to his wife, survivors include sons Jonathan, Richard, and Steven Larson.
Visitation will be from 4 p.m. to 7 p.m. Friday. In lieu of flowers, the family suggests memorials to Redeemer Covenant Church, 7801 Brooklyn Blvd, Brooklyn Park, MN, 55445.