David Mitchell Allen, 81, of Kansas City, passed away November 5, 2021. A visitation will be held from 5-7 pm, Thursday, November 11, 2021 at Hidden Valley Funeral Home of Lawson. Funeral service will be held at 12 pm, Friday, November 12, 2021 at Hidden Valley Funeral Home of Lawson and graveside service will follow at Missouri Veterans Cemetery in Higginsville, Missouri. David was born to Charles and Katherine Daisy (Raymo) Allen on August 18th, 1940 in Chillicothe, MO. David loved his family tremendously and you didn’t have to be blood related to fall into this classification. He had a huge heart and was a very generous person. He would often give his last dollar to someone in need and did so, even going without for himself. In his early years he was taught the ways of hard honest work, integrity, the value of a dollar, but most importantly, the value of family. Circumstances brought the Allen family to Kansas City where he attended and graduated from North Kansas City High School. While the rest of his family returned to northern Missouri to farm, David and his buddies, craving adventure, headed West to California. While in California he was drafted into the Army and headed to Vietnam. Returning to the Midwest, post Army, he continued his passion for adventure with a career in the trucking industry. His love for his family and the outdoors took them on many adventures including boating, camping and motorcycle racing. David shared his adventurous spirit with all including his son when they retraced travels from his younger years. When we say David loved his family, he loved ALL his family. He cared for and doted on his sisters, nieces and nephews in addition to his children and grandchildren. In David's waning years he pushed himself to be ever present in the moments that meant most to all his family and extended family. David was many things, but the best things he would want to be called were son, brother, husband, father, grandfather, uncle and friend. He was preceded in death by his mother and father, son David Mitchell Allen, Jr., brothers Donald Ray, Raymond Leroy Allen Sr., sisters Joyce Estes, Charlotte (Glee) Shelton, granddaughter Crystal Lynn Sullivan. Survivors include sister Nannie Hakes of Liberty, Missouri, daughter Corena (Barry) Stern, daughter Christine (Tim) Dines of Lawson, son Robert (Amber) Allen of Mercersburg, PA, grandchildren Amanda, Timmy (Kayla), Dakota, Peyton (Kayla), Emma, Jake. three great grandchildren and numerous nephews and nieces and his beloved fur kids Cocoa, Tyke, Buster and Cuddles. We love you Dad!