In July of 1987, Pastor Mark Walters began knocking on doors in the rapidly growing Overland Park community, inviting folks to be a part of a new Lutheran congregation. Holy Cross held its first worship service on February 21, 1988, and was officially organized as a congregation of the Evangelical Lutheran Church in America (ELCA) on December 3, 1989 with 131 charter members. After holding worship services at Blue Valley North High School and Tomahawk Creek Elementary, the congregation began worshipping in a newly constructed facility on February 20, 1994.

In 1998, Pastor Michael Peck was called to serve as Pastor. In the years that have followed, the congregation has experienced steady growth in membership, attendance and ministry. In 1999, the congregation completed its first facility expansion. This included classrooms, nursery, fellowship hall, and media center. As growth continued, new worship, educational and administrative spaces were needed. In October of 2004, the congregation dedicated the current worship space.

Today Holy Cross offers multiple worship services. These services vary in style from traditional Lutheran liturgy to contemporary. There are a variety of educational opportunities for ages 1 to 100. As a congregation of the Evangelical Lutheran Church in America (ELCA), Holy Cross has ministry connections with churches, colleges and faith institutions across America and around the world.