Royal was born in Superior on May 4, 1920, the son of Conrad and Alta Steen. He graduated from Superior Central High School and attended Augsburg College and Dunwoody Institute in Minneapolis. Royal began his career working for the Great Northern Railway as an electrician/bridge operator on the Interstate Bridge. After receiving his Architectural Drafting degree from UW-Extension, he worked for John Ivy Thomas Architects; Superior Builder's Supply; and Porky's Building Supply. He then worked for the Department of Housing/Community Development with the City of Superior, retiring in 1987. Royal continued to work independently, drafting house plans until 2006.

Royal was a lifelong member of St. Paul's/Our Savior's Lutheran Church in Billings Park where he served as choir director for many years. Royal sang with the Duluth Superior Symphony Chorus and the Harbor Master Quartets in addition to enjoying travel and golf. He also served as president for the Douglas County Habitat for Humanity Board.

Royal was preceded in death by his parents, his first wife, Gratia Burntvedt Steen who died in 1997, his second wife, Jeannett Boxrud Steen who died in 2009 and his siblings; Leland and John Steen, Fay Nygaard. He is survived by his children; Daniel (Laura) Steen and Paul (Wendy) Steen, Minneapolis, Erik (Grace) Steen, Brainerd and Mary (James) Zastrow, Superior, ten grandchildren and fifteen great-grandchildren, stepdaughters; Kris (Robert) Gillard, Plano, TX and Cynthia Boxrud (Scott Powell), Palisades, CA.

A memorial service will be held at Our Savior's Lutheran Church, Superior on Wednesday, August 25, at 12:00pm with Pastor Sarah Larsen officiating. Visitation will be from 11:00-12:00 at the church. In lieu of flowers, memorials can be directed to Our Savior's Lutheran Church, Augsburg College-Burntvedt Scholarship Fund, or The Salvation Army.

Inurnment will be in Riverside Cemetery, Superior.

Downs Funeral Home, 1617 N. 19th Street, Superior, is assisting the family with arrangements.