Joseph Kirk was born in Liverpool, Lancashire, England on 27 November 1882 (although would report different birthdates in later life) and baptised in St Alban’s Church on 3 December. Hailing from a Roman Catholic family, he was one of nine children born to Joseph Kirk, a Scottish-born marine fireman, and Catherine Cassidy, a native of Liverpool who was of north Irish descent. 

Kirk was listed as a ship’s scaler when he and his family appeared on the 1901 census as residents of 40 Shadwell Street, Liverpool. In 1904 he married Ellen Sharkey (b. 1883) and they had two children, the small family being shown as residents of 2 Florence Square on Hopwood Street, Liverpool by the time of the 1911 census, Joseph being described as a marine fireman.

In April 1912 Kirk was serving as a trimmer aboard the eastward-bound voyage of the Carpathia when that ship rescued the survivors of the Titanic. Also serving aboard was his younger brother, Patrick Kirk.

Kirk continued working at sea after the Titanic disaster, serving with the merchant fleet during WWI. 

Joseph Kirk died in Liverpool in 1955 aged 72 and was buried in Anfield Cemetery.