Survived by his loving friend and faithful companion, Francesca Millunzi.  Father of Sherri Zagar (deceased)​, Michele Ballantyne, Diana (Daniel) Swillinger, Jamie Bence (Michael) Rose and seven beloved grandchildren.  Survived also by his brother, Jerome "Chip” (Carrie) Bence; and his treasured niece and nephews.  Further survived by his golfing buddies, sailing and North Lake friends, and longtime work friends.  Richard graduated from Marquette University School of Dentistry and Loyola School of Dentistry and served in the United States Air Force (Captain).  He practiced endodontics in the Milwaukee area for 36 years, authored several books (one of which was published in five languages), and enjoyed competitive sailing, golfing, and traveling.  A private celebration of Richard's life will be held by his family members. In lieu of flowers, memorials in Richard’s name are appreciated to the Special Olympics.