Faithful: The Robert and Eleanor Palmer Story chronicles the Palmers' early roots as children from the Midwest during The Great Depression. It follows their journey to Bible College at Central Bible Institute in Springfield, Missouri where the authors met and would later marry, to serving as assistant pastors in St. Louis and starting a family with the birth of their son, Paul. Faithful then describes the details that led them to be senior pastors in Dunn, North Carolina where there family grew to be a family of four with the birth of their daughter, Phyllis. We then find them relocating to a church in Lee's Summit, Missouri which they also helped to build as well as pastor. All throughout the book there is the theme of service and faithfulness. Eleanor was right there with Bob, lifting up his ministry with her own ministry of music, whether it be playing the organ or the piano or the accordian or leading the choir. There were other calls to churches in the Midwest until the Palmers ultimately received the call to go West, where they have been for the past 37 years at two different churches. With each move to each new city and church, whether it was for 5 years or 11 years or more, The Palmers always listened to the still small voice within and were guided by their God.

This book exemplifies steadfastness, trust and faithfulness. The underlying story of being faithful to the purpose to which God had called them is a true testimony of the Palmers' lives. Faithful also describes their lives after pastoring in the pulpit and how they helped be "pastors to pastors" to hundreds of ministers. The book also delves into their work in overseas missions and contains an informative history of the Assemblies of God.