Robert Garrett Taylor, 77, of Millstone passed away Thursday, February 14, 2019 at his residence. Robert was the son of the late Liburn and Hannah Stephens Taylor. Surviving is his wife: Pauletta Johnson Taylor; children: Karen Sue Taylor and Junior Johnson of Rocky Point, North Carolina, Vernia Faye Taylor and Bennie Johnson of Colson, Jennifer Lynn Taylor and Earl Craft of Millstone, Garrett Taylor and Melena Taylor of Portsmouth, Ohio, and Angela Renee Taylor and Jody Holbrook of Millstone; 15 grandchildren; 6 great grandchildren; 3 grandchildren he raised as his own: Zachary Ray Holbrook, Sasha McKenzie Holbrook, and Megan Leann Taylor of Millstone. Robert was preceded in death by 1 daughter: Jean Taylor; 1 granddaughter: Kathleen Taylor. Funeral: 1:00 O'clock P.M. Monday, February 18, 2019 at the Millstone Missionary Baptist Church with Bill Craft and Jeff Hart officiating. Visitation: 6:00 P.M. Saturday at the Millstone Missionary Baptist Church. Burial will follow in the Baker and Taylor Cemetery at Millstone, Kentucky.