Helen McMillen, 86, of Palmetto, FL,, passed with Karen and Kathi by her side, in her home, on January 19, 2023.  Helen was predeceased by her parents, Harold and Elizabeth Quirk, her devoted husband Robert (Bob), brother Harold Quirk. She is survived by  daughters Karen Bellingar (Jerry), Kathleen Seger (Robert) Mary Ellen McMillen, 12 grandchildren and 17 great grandchildren.  A funeral mass will be held at Holy Cross Catholic Church in Palmetto, Fl on January 26 at 10:00.