Taylor, Robert A. Jr. on July 19, 2022 of COVID-19. Predeceased by parents Rose M. and Robert A. Taylor, Sr. Proud American and U.S. Army Veteran, Cold War, Hanau, Germany 1955-1958, 4th Infantry Division. Beloved husband of Kathleen (nee Quinn). Loving father of Terence (Sara), Brendan (Monica) and Megan (Mickey). Fond grandfather of Lindsay, Terence and Garrett. Loving brother of Paul (Debbie). Uncle of 5 nieces and nephews. Bob was the former owner of the Peter J. Geis Funeral Home in Ridgewood, Queens, NY, providing 46 years of service to the Ridgewood Community. Past President of St. Matthias Holy Name Society, Parish Council Member, Knights of Columbus Council 1814, Ridgewood Council and Boy Scouts Troop 327. Bob was also a member of the Stammtisch Group at Our Savior Lutheran Church, Manhasset, NY. Bobs love of traveling took him all around the world where he met people who became lifelong friends. (“Good Friends Matter!”) His sense of adventure took him across the Carrick-A-Rede rope bridge in Northern Ireland, walking 66 feet across, and 98 feet above, the swirling Irish Sea below and driving to the top of the Marmolada Glacier in Trentino, Italy. His motto was “You only come this way once” and from that he lived life to the fullest. Visiting hours will be 3 to 7 PM on Saturday, July 23 and 4 to 8 PM on Sunday, July 24 at Morton Funeral Home Ridgewood Chapels 663 Grandview Ave. Ridgewood,NY. Mass of Christian Burial at St. Matthias Church, 58-15 Catalpa Avenue, Ridgewood at 10:15 AM. Interment Pinelawn Memorial Park.