Robert Eugene Taylor, 62 of Leonardtown, MD, transitioned from this earthly life into eternal rest and peace on December 10, 2023. Family and friends will unite on Friday, December 22, 2023 for visitation at 10 am; service at 11 am at St. Matthew Pentecostal Church, 23755 Hollywood Road, Leonardtown, MD 20650. Interment to follow at Queen of Peace Cemetery, 38833 Chaptico Road, Mechanicsville, MD 20659.