A native of Fullerton, California, Kiefer attended Garden Grove High School and Fullerton College. In 1987, he played collegiate summer baseball with the Chatham A's of the Cape Cod Baseball League. He was selected by the Brewers in the 21st round of the 1987 MLB Draft.
Kiefer's brother, Steve Kiefer, also played in the major leagues as an infielder.

Mark Kiefer is a scout for the Chicago Cubs (MLB) and was a part of the team that won the World Series in 2016.

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