Robert Martin Nelson, Jr., passed away peacefully at home surrounded by family on April 26, 2026, at the age of 70 years.

Born April 22, 1956, he lived his entire life in Irving, as a long-time realtor with Ebby Halliday, as a real estate investor and manager, and businessman. His deep involvement in his community included more than two decades on the Dallas County Flood Control District #1, most recently as its President; a lifetime of service to St. Mark's Episcopal Church from childhood acolyte to Senior Warden, Acolyte Master, Lay Minister, and more; and as a member and former President of the Irving Las Colinas Rotary Club.

He married his beloved wife Katherine Antila on May 30, 1998, in Irving, and over the years they traveled the world together, often with the Lone Star Skiers and Adventure Club where he also held multiple volunteer offices, most recently President.

Preceded in death by his parents, Robert and Ann Nelson, survivors include his wife, Katherine Antila Nelson of Irving; sister, Mary Nelson Bessler and husband Scott of Naperville, Illinois; sister, Sarah Nelson Tate and husband Robert of Irving; four nephews, Richard and Nicholas Bessler and Samuel and Joseph Tate; and countless cherished friends and extended family.

Funeral services will be held at 11 am on Tuesday, May 19, 2026, at St. Mark's Episcopal Church, 516 S. O'Connor Road in Irving, and streamed via the church's social channels at stmarksirving.org.

In lieu of flowers, the family requests donations be made to St. Mark's Episcopal Church in Irving.