Richard “Dick” A. Petersen, age 79 of Princeton, MN, passed away in the comfort of his home on Monday, August 12, 2019. Memorial Services will be at 11 a.m. on Thursday, August 22, 2019, and visitation will be from 5-8 p.m. on Wednesday, August 21, 2019 and one hour prior to the service on Thursday; both held at Williams Dingmann Family Funeral Home, 205 South Rum River Drive, Princeton, MN 55371. Richard was born December, 30, 1939, in Minneapolis, MN to Carl and Alvina. He served in the US Navy during the Korean War. He spent most of his life driving semi and being a painter. He is survived by his loving wife, Audrey of 25 years; five children, Marty Staggs, Mike (Jo) Petersen, Karen Deitrich, Jason (Jordan) Staggs, and Nick (Brandon) Erdman; 15 grandchildren; three great-grandchildren; sister, Pat Lombard; and brothers, Kenny (Patty) Petersen, Tom (Linda) Lyons, and Carl (Caroline) Petersen. He is preceded in death by his parents; son, David; two grand-babies, Kyle and Jessica; and brother, Conrad.