Geomorphic and stratigraphic studies of Mars prove extensive liquid water flowed and pooled on the surface early in Mars’ history. Martian paleoclimate models, however, have difficulty simulating climate conditions warm enough to maintain liquid water on early Mars. Reconciling the geologic record and paleoclimatic simulations of Mars is critical to understanding Mars’ early history, atmospheric conditions, and paleoclimate. This study uses an adapted lake energy balance model to investigate the connections between Martian geology and climate. The Lake Modeling on Mars for Atmospheric Reconstructions and Simulations (LakeM²ARS) model is modified from an earth-based lake model to function in Martian conditions. We use LakeM²ARS to investigate conditions necessary to simulate a lake in Gale crater. Working at a localized scale, we combine climate input from the Mars Weather Research & Forecasting general circulation model with geologic constraints from Curiosity rover observations; in doing so, we identify potential climatic conditions required to maintain a seasonal liquid lake. We successfully model lakes in Gale crater while varying initial climate conditions, lake size, and water salinity. Our results show that ice-free conditions in a plausible Gale crater lake are best supported when the lake is small, ~10 m deep, and air temperatures reach or are just above freezing seasonally during a Martian year. Continued use and iteration of LakeM²ARS will strengthen connections between Mars’ paleoclimate and geology to inform climate models and enhance our understanding of conditions on early Mars.