Gene Cadwallader's body was driven through Yardley on board a fire engine from 1937 that he helped restore and maintain.
Cadwallader, who is also a Korean War veteran, is credited with building the Yardley-Makefield Fire Company into one of the top volunteer companies in the state.
He was a lifetime member with 59 years of service.
Cadwallader died on Friday at a hospice facility. He was 85.