Steele was born in Honolulu, Hawaii, to Percy Davis Steele, a Bostonian of English descent and a career Marine who in 1956 was named assistant administrator of the Marshall Islands. Her mother, Ruth Covey Merritt, was a Californian of French and Danish heritage. Steele's childhood in the Hawaiian Islands brought her into contact with the Japanese and Hawaiian languages, as well as English.
When she was 13 years old, a surfing accident resulted in Steele's leg being cut by coral segments. She later developed osteomyelitis in the leg with infection so severe that amputation was seriously considered until a doctor brought to Hawaii from Hong Kong ended the infection. The leg had to be rebuilt with wires and metal, but after 22 operations she began rehabilitation to resume walking.
Steele attended the University of Hawaii and studied acting at Rollins College in Florida for a year. After that, she found work as a cover girl and model.

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