In 1986 Dr. Phillip Walker and Dr. Myron Goodwin and their families went to Kenya to start ICM. Initially ICM provided teaching seminars at the secondary level as well as missions training courses for a number of expatriates. By 1988 the focus of ICM's activity was narrowed to providing theological training for pastors and church leaders, particularly from African non-traditional denominations.

In 1989-90 the Church-Based Bible Schools program (CBBS) was organized to provide training and materials for pastors and Christian leaders for the equipping of the Church. Central to the CBBS Program were Tutor Training Conferences to train pastors to use teaching materials in conducting their own equipping classes in their churches.

In 1989 ICM was incorporated in Canada under the direction of Phil and Nancy Jeske.  They later moved to Berlin, Germany to explore opportunities for ICM to equip pastors in Eastern Europe.

In 1990 ICM became the East Africa representative for Walk Thru the Bible and consequently started training seminar instructors and offering Old and New Testament Seminars to churches and schools, as well as courses in teaching and leadership development.

In 1991, James and Mary Kamau of Kenya were the first national couple to join ICM. In 2001, they moved to Tanzania to establish ICM.  In 1996 ICM was incorporated in Uganda under the direction of David and Zipporah Omalla.  

In 1993, ICM started degree level training in Kitale, Kenya at ICM Seminary, the name ICM gave the semi-residential programs. In 1996 ICM held their first graduation for pastors in the Degree program. That same year, the Masters program was organized as well as an English Certificate program.

In 2000 ICM was asked to coordinate the work of Walk Thru the Bible in Africa and the Middle East.  In 2001 Purpose Driven asked ICM to coordinate the work of Purpose Driven Ministries in Africa and the Middle East.  In 2002 ICM concluded an agreement with John Maxwell’s Equip organization to launch the Million Leaders Mandate in Sub-Sahara Africa.  As of 2006 ICM and its partners have offices in 12 countries in Africa and conduct training in more than 30 countries.