Esaho is married to Beatrice Shimba Kipuke, also a missionary who serves West Africa/Francophone as the Coordinator of Women, Children and Youths. They have four children, Kisel Ehumo Kipuke Demby, Mark Esaho, Jr., and Omba and Shako. They also have one grand-daughter, Berionne Demby. Esaho's parents are Nicholas Ngongo Esaho and Marie Usako Ehumo of Commune de Mont-Ngafula, Kinshasa, DRC, where they are members of Mbomu United Methodist Church. Beatrice's parents are Jimmy Makungu Kasongo and Eunice Shimba Bulaya of Kamina. Esaho is a multicultural pastor speaking fluently seven different languages.