Audrey Penn grew up in Maryland, USA. Audrey Penn didn’t start off her career as a writer. Penn, in the 1970s, was a ballerina dancer dancing for the New York City Ballet, Danny Diamond Dance Theatre, Stuttgart Ballet, and the National Ballet. Between 1973 and 1976 she was an alignist and choreographer for the US Figure Skating team for the Pan American Games and the 1976 Olympic Gymnastics Team.