David Kiehl became curator of prints at the Whitney Museum of American Art in 1993. Previously, he was associate curator of prints and illustrated books at the Metropolitan Museum of Art, where he worked from 1974–92, and a consultant curator for prints, drawings, and posters at the Wolfsonian Foundation in Miami Beach (1993–94). Among the many Whitney exhibitions Kiehl has organized are: In a Classical Vein: Works from the Permanent Collection (1993–94), Gertrude Vanderbilt Whitney: Patron of Printmakers (1994–95), Edward Hopper: Printmaker (2000), Charles Burchfield: Works on Paper (2001), Memorials of War (2004), Political Nature (2004–05), Ellen Gallagher: DeLuxe (2005), Two Years (2007–08), and Christian Marclay: FESTIVAL (2010). He was responsible for the installations of the following shows at the Whitney Museum: The Art of Richard Tuttle (2005–06), Kiki Smith: A Gathering (2006–07), and Jenny Holzer: Protect Protect (2009).
Kiehl continues to serve on the editorial board of Print Quarterly, the board of directors of Printed Matter, New York, and the advisory committee for the LeRoy Neiman Center for Print Studies, Columbia University, New York. He has served on the juries for national and international print bi- and tri-ennials including Ljubljana (1999) and Tallinn (2001 and 2004). At the Center, he served as an exhibitions panelist in 2011.