Gunselman began racing in various West Coast series before moving to the Winston West Series, where he won the Most Popular Driver award in 1996. That same year, he made his NASCAR debut in the Winston Cup Series at Sonoma. He qualified 43rd and finished 36th in the No. 35 Race Stuff/Olson Technology Ford Thunderbird. He would qualify the next year, picking up sponsorship from Caterpillar, Inc. after David Green's entry failed to qualify. Gunselman attempted two races in Cup in 1998 in the No. 37 and No. 58 cars, but failed to qualify for both of them.

He would return to competition in 2000 driving for Brevak Racing in the Craftsman Truck Series. He crashed out of his debut at Cicero, and had two twenty-sixth-place finishes in the next two races. In 2001, he joined MB Motorsports and picked up sponsorship from Waterloo Tool Storage. He drove seventeen races that season with a best finish of 16th at Kansas Speedway, as well as including an additional start at Texas Motor Speedway for Troxell Racing. He started out 2002 with MB, but was released after three starts. After making a few Busch Series starts for Brian Weber, Gunselman hooked up with DF2 Motorsports and ran fourteen races with the team, his best finish a 16th at Talladega Superspeedway. He would move to Day Enterprise Racing the following season, and qualified for every race. He had an eighteenth-place finish at Talladega and finished 21st in points at season's end.

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