David married actress Laura Innes in 1988. They have two children together: son Cal, born in 1990, and daughter Mia, adopted as a one-year old from China in April 2002.
David's wife, Laura Innes, worked with her husband on his former series, Hey Dude; she was a guest star on the episodes "Teacher's Pest" and "Baby," and co-wrote the episode "Rest in Pieces."