They also honored 9-month-old Conrad Sheils, who remains missing after flood waters swept away members of his South Carolina family.
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Event organizers, elected officials, first responders, and members of the Council Rock School South choir were all in attendance.
The vigil began with local leaders calling the names of the victims one by one, ending with Conrad's name.
A torch was lit to symbolize the memorial garden's motto: after darkness comes light.
Survivors spoke out at the event to share their stories.
READ | Families, friends remember those lost in Bucks County flash flooding
"I'm a life-long learner and I never thought I would have to learn how to live through a tragedy like this," said survivor Dahlia Galindez.
Galindez is Conrad's grandmother. She went on to describe the horrible moments when she was separated from Conrad, her daughter Katie Seley, and granddaughter Matilda Sheils.
"We got out of the car. The water was up to my shins. I took a few steps and I was swept under the guard rail along with my daughter Katie and the grandchildren," she recalled.
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Seley and Matilda did not survive the severe flooding.
The surviving Sheils family, father Jim Sheils, 4-year-old Jack, and Galindez, are hoping for Conrad to be reunited with them soon.
"I guess I get to stay here for a while," said Galindez. "Kind of wanted to be with Katie and the children."
Survivor Dave Love also spoke from his heart to his wife Yuko, who was swept away by the water.
"Yuko, I love you. I am so sorry," said Love.
Survivors and family members of victims didn't leave the vigil without thanking first responders and community members, who they consider to be heroes.
"This was not just another day at the office for these brave men and women. Many of the rescuers we visited had tears in their eyes," said Paul Sheils. "They were all treating the search as if they were looking for their own children and it showed."
Before leaving, everyone placed a white rose near the torches as a symbol of love, hope, and healing.
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"We know suffering produces perseverance. Perseverance, character, and hope," said Paul.
As the vigil was held, the search continued for the missing 9-month-old.
Police in Upper Makefield Township say hundreds of people have been involved in the search and rescue efforts for the missing boy over the last eight days.
Officials have deployed K-9 units, sonar, drones, divers, and more during the operation.
They still have to search one debris pile underwater where Houghs Creek runs into the Delaware River.
Once weather conditions permit, divers will search the location, and as water levels recede, they will search for Conrad in the surrounding area.
This comes just after Philadelphia police located Matilda along the Delaware River on Friday.