Endundo was born on 8 August 1943 in Tondo in Bikoro Territory in Équateur province.
Endundo joined the Rally for Congolese Democracy (RCD) for a brief time before joining the Movement for the Liberation of the Congo (MLC) of Jean-Pierre Bemba in which he became one of the most influential players.
When the Transitional Government was established, he was appointed as The Minister of Public Works and Infrastructure.
He joined with other politicians to create a new political party called the National Union of Christian Democrats (UNADEC).
Endundo is also a member of the political bureau for Together for Change, the opposition political coalition formed by former Katanga governor Moïse Katumbi to support his presidential bid in the upcoming 2018 presidential election.