Robert Stephen Nelson, Sr. "Nelson" 56 of Avenue, MD passed away peacefully on January 31, 2013 in St. Mary's Hospital surrounded by his family. Born May 26, 1956 in Leonardtown, MD, he is the son of Mary C. Nelson and the late James Vernon Nelson.

He was preceded in death by his brother James Phillip Nelson.

Nelson is survived by his beloved wife of 4 months Joyce Nelson of Avenue, MD, his children: James P. Nelson (Melanie) of Hollywood, MD, Robert S. Nelson (Shannon) of Avenue, MD, mother in law Brenda Wathen, 4 step-children: Joanne Morgan (Nick) of Lexington Park, MD, Heather Murphy, Joseph Murphy IV, and Ashley Wood all of Avenue, MD, 5 grandchildren: Andrew, Justin and Tyler Nelson of Hollywood, MD, Alex Hodges and Lilly Nelson of Avenue, MD, 2 step-grandchildren: Noah Hammett of Avenue, MD and Hope Morgan of Middlesex, VA, siblings: Phyllis Wagner (Harold) of Nebraska and Pat Nelson (Maryann) of Florida.

Nelson was a lifetime Waterman, an occupation that he enjoyed doing.

Arrangements provided by Mattingley-Gardiner Funeral Home.