Barbara Estes Miller, of St. Joseph, departed this life to join our Lord and Savior on Thursday, June 8, 2017, after living with cancer for years. Barb was surrounded by family during her final days.

Funeral services will be Monday, June 12, 2017 at 11:00 A.M. at St. Paul Lutheran Church, 4715 Frederick Avenue, St. Joseph, Missouri with Pastor David Moore officiating. A family burial will be Monday, June 12th at 4:00 P.M. at Sunset Memory Gardens, Atchison, Kansas. Visitation with the family will be Sunday, June 11, 2017 from 6:00 until 7:30 P.M. at St. Paul Lutheran Church in St. Joseph. The family suggests memorial contributions to pediatric cancer research at Children's Research Institute at Children’s Mercy Hospital in Kansas City, Missouri or to St. Paul Lutheran Church in St. Joseph, Missouri. Contributions may be sent in care of Arensberg-Pruett Funeral Home, 208 N. 5th Street, Atchison, Kansas 66002 with whom final care has been entrusted. Online condolences may be left at www.arensbergpruett.com.

Barb was born September 5, 1956 in Atchison, Kansas, to C. J. and Lois (Marting) Estes. She graduated from Atchison High School in 1974 and Kansas State University in 1978.

On March 4, 1979, Barb married her husband of over 38 years, Thomas E. Miller, at Trinity Lutheran Church in Atchison, Kansas. She was a thirty five year employee of St. Joseph Electric Supply Company, and was an active member of St. Paul Lutheran Church in St. Joseph.

Barb was much admired and loved by family and friends. Her caring, generous and courageous spirit remains in our hearts.

She was preceded in death by her father, C.J. Estes; her mother-in-law, Frances E. Miller and her father-in-law, Thomas E. Miller.

She is survived by her husband, Thomas E. Miller, of the home; daughter, Sarah Miller and husband, Kevin Brumback of Chevy Chase, MD; daughter, Laura Weipert and husband, Brett Weipert, of Liberty, MO; son, Todd Miller and wife, Stephanie Miller, of Conroe, TX; mother, Lois Estes, of St. Joseph, MO; two grandchildren, Spencer Miller and Gracen Brumback;