Samuel Taylor, Sr. was born to the late Samuel Hill and the late Alice Freeman in Bessemer, Alabama on July 29, 1936. Samuel Hill was later adopted by the late Andy E. Taylor and his name was changed to Samuel Taylor.

Samuel joined First Street Baptist Church under the leadership of Pastor B.F. Green in the 1960's. He was a Trustee for President of the Brotherhood, he assisted with First Street Missionary Baptist Church basketball team and Boy Scouts. He was the Intermediate Boy's Sunday School Teacher.

At the tender age of 14 years old, Samuel enlisted in the United States Army, until being discovered he was under aged, he was discharged. Once Samuel reached the appropriate age, he re-enlisted in the United States Army. Samuel is a veteran of the Vietnam War where he earned the following Medals, Badges, Commendations, Citations and Campaign Ribbons: National Defense Service; Army Aviators Badge; Good Conduct Medal; Good Conduct Medal (2d Award); Air Medal w/oak leaf clusters; Master Parachutist Badge; National Defense Service Medal (1st OLC); Vietnamese Service Medal; Army of Occupation Medal (Japan); Purple Heart; Flight School-WORWAC 67-13; Counter-Insurgency; CH-47Pilot; FccDevCrse; NCO Academy; Jumpster Course; Aviation Maintenance Officer Course (AMOC); Fixed Wing Qualification Course (FWQC); Battle Indoctrination; Code of Conduct; CBR Tng; Geneva Conv; Survival, Escape and Evasion; Map Reading; Military Justice; Subversion and Espionage Directed Against the United States Army (SAKDA).

On May 5, 1958, Samuel married Sarah Torian of Hopkinsville, Ky. They were married for 64 years. During their union, they were blessed with 5 children.

Samuel loved to go to the Waffle House. He also was a big fan of duct tape.

He is proceeded in death by 6 siblings.

Samuel is survived by his wife, Sarah Torian Taylor; children, Eric (Franque) Evans, Samuel (Lynette) Taylor Jr., Linda (Leon) Oldham, Karen Wallace, Kimberly Taylor; Siblings, Judith Story, Shirley Wallace, Rosie Jean Hearns, Brenda Gates Bessemer, Mamie (Eugene) Wilson, Andy Taylor Jr.; Godchild, Laka (Isiah) Green-Wilson; Brother-in-Law, William (Diana) Torian; 12 grandchildren; 24 great-grandchildren; and a host of other relatives