Mary Kingsley was born in London on 13 October 1862, the daughter and oldest child of doctor, traveller, and writer George Kingsley, who was regularly away from home on his excursions.

   In terms of Kingsley's education, she had little formal schooling compared to her brother because, at that time, and at her level of society, education was not thought to be necessary for a girl. She did, however, have access to her father's large library and loved to hear her father's stories of foreign countries which awakened her interest for travelling. Unfortunately, she was unable to embark on her own adventures due to her parents' illnesses, as she was expected (as a daughter) to take care of them.

   After their deaths she decided to travel to the west coast of Africa. Generally, the only non-African women who embarked on (often dangerous) journeys to Africa were the wives of missionaries, government officials, or explorers. Exploration and adventure were not seen as fitting roles for women in the Victorian Era. African women were surprised that a woman of Mary's age was travelling without a man, as she was frequently asked why her husband was not accompanying her.