Andrew Taylor was born on March 15, 1941, in Grayson, Oklahoma, to the union of Felix Sr. and Fannie Taylor. He completed his education in Oklahoma, earning his diploma and attending college before relocating to Kansas City, where he began a long and dedicated career with Colgate. Following his retirement, Andrew continued his commitment to serving others by working at Learn-A-Lot Childcare for more than twenty years. He remained there until declining health forced him to step away. Andrew was a devoted believer in our Lord and Savior, Jesus Christ. His faith was the foundation of his life, and he faithfully served as an ordained Deacon at Spirit of Truth Missionary Baptist Church. In 1980, Andrew met the love of his life, Alice Walls. Their loving relationship blossomed over the years, and they were married on September 9, 2000. Together they shared a life filled with love, faith, and cherished memories. Andrew leaves to cherish his memory his beloved wife, Alice Taylor; his sons, Andrew Taylor, Jr. (Wanda), Bobby Taylor (Jennifer) of Kansas City, Kansas, and Anthony Taylor (Angela) of Omaha, Nebraska; his bonus children, Terrell Walls, Pernell Walls, and Teresa Givens (Rodney) of Kansas City, Missouri; his special family friend, Cora Francisco; and a host of grandchildren, nieces, nephews, other relatives, and dear friends who will forever treasure his memory. He will be deeply missed and lovingly remembered by all who knew him.

A service will be held on Friday, June 12, 2026, at Connection Point Church, 10500 E. State Rte.350 Raytown, MO 64138. The visitation will be held from 9:00-10:30 am, with a service to follow promptly at 10:30 am.

Interment will take place following the service at Newcomers' Floral Hill Funeral Home, 7000 Blue Ridge Blvd. KCMO 64133 .