St. Robert Bellarmine’s history came from the desire of Union Grove residents to have a church of their own.  With the blessing of the archdiocese and the pastors of St. Mary’s in Dover, feasibility studies and fundraising began on a new parish.  14.7 acres was purchased across from Union Grove High School for $17,375.  On September 10, 1965 St. Robert Bellarmine Church was officially established as a parish in the Archdiocese of Milwaukee.  As plans continued, mass was celebrated in the vacant Wisconsin Telephone Company building on Highway 11.  Ground was broken on July 3, 1966 and the first Sunday liturgy was held July 17, 1967.

The pastor resided in the parish building until the building of the parish rectory on the property in the 1970’s.  With an enthusiasm for liturgical music, the parish built a pipe organ in 1995. 

In 2005, St. Robert’s and St. Mary’s, under the leadership of Rev. Howard Haase, began collaborating and sharing programs.  July 2007 the parish councils merged to form one joint council.