Robert L. Estep was born May 24, 1978 in Tulsa, Oklahoma to Danny and Linda (Parnell) Estep. He grew up in Locust Grove, Oklahoma and began his career as a plumber early. He was very passionate about his work, and had twenty years' experience in industrial and commercial plumbing. He worked very hard to provide for his family.

Robert loved spending time with his family and taking road trips to explore new places. Robert had a contagious smile and was a goof ball, always joking around. He was fun loving and loved by those around him.

He was an amazing husband and father. His daughters, Courtney and Heaven, and his stepson, Allen, were everything to him. Robert's family and friends who survive him will miss him dearly.

Robert departed this life August 2, 2016 in Wagoner, Oklahoma, where he made his home since 2014. He was preceded in death by his mother, Linda Estep and sister, Robin Jefferson.

Those who survive him include his wife, Aime Miller, whom he married July 11, 2011; his two daughters, Courtney Estep and Heaven Estep; step-son, Allen Skipworth; other relatives and many friends, all of who knew him to be an amazing man!

Following cremation a memorial service will be planned at a later date.