Born at Schofield Barracks, Hawaii, Heiberg became a third-generation West Pointer when he graduated fifth in the United States Military Academy class of 1953. He later obtained three master's degrees; the first a Master of Science in civil engineering from the Massachusetts Institute of Technology, then two Master of Arts degrees from George Washington University, one in government and one in administration. He also received a degree from the Industrial College of the Armed Forces. Heiberg graduated from the Industrial College of the Armed Forces.