Pilgrim Rest Missionary Baptist Church was founded in September 1923, when eight faithful believers gathered with Rev. York Haire to organize a mission. One month later, this group met with traveling missionary Rev. John Davis and officially organized Pilgrim Rest Missionary Baptist Church. Rev. John L. Steward was called to serve as the church's first pastor. In the spring of 1924, the congregation purchased land on Burton Street, where they constructed their first church building. The first worship service was held there in June 1924, marking the beginning of a ministry that would impact generations to come.

Between 1924 and 1940, four pastors faithfully led the congregation. In January 1941, Rev. W. E. Ellis accepted the call to pastor Pilgrim Rest. Under his leadership, the church experienced remarkable growth, requiring an expansion of the original building to accommodate the increasing membershipBy March 1944, the congregation had once again outgrown its facilities. The church purchased property at the corner of Main and Burton Streets and broke ground for a new sanctuary in September of that year. Rev. Ellis personally helped prepare the site, digging the basement with an old-fashioned scoop and a horse-drawn team.

Construction proved challenging due to World War II, as many essential building materials were scarce or unavailable. Nevertheless, through faith and perseverance, the project moved forward. On Thanksgiving Day in 1948, a truck arrived from Bluefield, West Virginia, delivering the pews for the new sanctuary. The congregation held its first worship service in the new building on the first Sunday of December 1948.

Following the move, the original church building was remodeled into a cafeteria. Under Rev. Ellis' leadership, Pilgrim Rest continued to flourish, becoming a cornerstone of the Benton Harbor community. During the Civil Rights era, the church served as a meeting place for the NAACP and other organizations committed to promoting racial equality and justice.

In 1959, the congregation began an extensive renovation of the church, investing approximately $48,000 into improvements. The project included removing the original concrete basement floor, installing structural steel beams, and adding a baptismal pool, kitchen, dining area, classrooms, and office space. Countless hours of volunteer labor from dedicated church members made the renovation possible. The project was completed in 1961, and a rededication ceremony was held in June of that year.

In 1962, the original church building was demolished, and additional surrounding property was purchased to provide much-needed parking for the growing congregation. A second remodeling project in 1981 included the installation of the church steeple and the refinishing of the sanctuary pews.

Rev. Emery M. Varrie became Assistant Pastor in 1983 and assumed the pastorate following the passing of Rev. W. E. Ellis in 1985. Under Pastor Varrie's leadership, the church grew to more than 500 members and experienced significant expansion in both ministry and outreach.

During his tenure, the church acquired a 3.33-acre parcel of rental property, purchased 11 additional properties, and obtained a 47-passenger church bus. More than 21 ministries were established, including the Food and Clothing Ministry, Jail Ministry, Tape Ministry, Ministers-in-Training, Benevolent Fund, Children's Church, Women of Integrity, Scholarship Fund, Deaconess Ministry, I AM Rehabilitation Ministry, Computer Ministry, Transportation Ministry, and an Evangelism Outreach Ministry. The W. E. Ellis Education Building was also completed during this period.

On Thursday, February 25, 2016, our beloved Pastor, Rev. Emery M. Varrie, unexpectedly transitioned to his eternal home. Affectionately known throughout the community as "The Gentle Giant," Pastor Varrie left behind a remarkable legacy of 33 years of faithful leadership, compassion, and unwavering service to Pilgrim Rest Missionary Baptist Church and the Benton Harbor community.

On the first Sunday of November 2016, Pastor Carlton A. Lynch was elected as the next pastor of Pilgrim Rest Missionary Baptist Church. He was officially installed on the second Sunday of March 2017.

Under Pastor Lynch's leadership, God has continued to bless and expand the ministry of Pilgrim Rest. During the COVID-19 pandemic in 2020, when churches across the nation were forced to close their doors, Pastor Lynch led the church into a new season of digital ministry by launching what is now the church's thriving online streaming ministry.

Today, Pilgrim Rest Missionary Baptist Church continues to stand as a beacon of hope, faith, and service. From its humble beginnings with eight faithful believers in 1923 to its ongoing ministry in the twenty-first century, the church remains committed to proclaiming the Gospel of Jesus Christ, serving the Benton Harbor community, and advancing the Kingdom of God for generations to come.