Robert D. Taylor, 75, of Allentown, passed away peacefully at his home on Sunday, December 15, 2019 after a very stoic battle with cancer. Robert was a well-rounded athlete and played on his Carteret High School football team. After his graduation, he enlisted into the US Navy where he served in Guantanamo Bay, Cuba as a member of the Naval Armed Ground Defense Forces. A champion diver, he was on the Navy Swim and Dive team while stationed in Cuba and later was selected to join the Guantanamo Bay traveling Volleyball team and competed throughout the USA and Puerto Rico.

His next assignment was aboard the USS Lake Champlain Aircraft Carrier during which they recovered the Gemini 5 Space Capsule. Later, while aboard the USS Randolph, he was involved in anti-submarine war games in Northern Europe. In 1967, Robert began a successful career with Linden Motor Freight, working as a General Manager and Safety Director becoming one of the prestigious members of the Safety Directors Round Table for the State of New Jersey.

Robert loved sailing and scuba diving and after moving to Allentown became a member of St. John the Baptist Roman Catholic Church. Robert was active with his Four Seasons Community including as a member of the swim team and community billiards league. He and his wife also had a special interest in Standardbred Race Horses and were part owners of two horses.  Robert and Jane knew their horses since they were foals and enjoyed watching them grow, train, and race. Robert loved to play the guitar and adored his poodles, Perry Bob and Ruby Jane.

Son of the late Robert and Katherine Taylor, Robert was predeceased by his first wife, Arlene Taylor and his brother, James Taylor. He is survived by his current wife of 14 years, Jane Taylor; his sons, Brian and Randy Taylor; his daughter and son-in-law, Jennifer and Derek Lepinski; his grandchildren, Sarah and  Zachary, and their mother, Linda; grandson Daryl, and his mother, Amber; his brother and sister-in-law, Kevin and Kathy Taylor, his sister-in-law, Gillian Taylor; as well as his beloved in- laws, nieces and nephews.

A viewing will be held from 3-7pm on Thursday, December 19 ^th at the Peppler Funeral Home, 114 S. Main St. Allentown. Mass of Christian Burial will be celebrated Friday 12pm at St. John the Baptist Roman Catholic Church, Allentown. Interment will follow in Brigadier General William C. Doyle Veterans Cemetery in Arneytown. In lieu of flowers, memorial contributions may be made in Robert's name to St. Jude Children's Research Hospital, 501 St. Jude Place, Memphis, TN 38105,to the Shriner's Hospital for Children, 2900 Rocky Point Dr. Tampa, Fl 33607 or to the Standardbred Retirement Foundation, 42 Arneytown-Hornerstown Rd, Cream Ridge, NJ 08514 .