He married Helena Palmer in 1949 and they would have two sons, the artist Will Pappenheimer and Rick, and one daughter, Rosamond Pappenheimer Zimmermann.
The son of Harvard physiology professor John Pappenheimer (1915-2007) he received his under graduate degree from his father's alma mater of Harvard University and then did his graduate studies at the School of the Museum of Fine Arts, Boston, where he received his MFA.
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