Fellow planning board members Howard Engel and Katherine McCarthy said they would miss their colleague and friend.
"He was a great family man and an incredible person," Engel said. "I've known him for a long time and his list of accomplishments and dedication is endless."
McCarthy said Mathusa's legacy is fitting.
"What a great guy, who just devoted himself to town and family and was the warmest, friendliest person around," McCarthy said. "The best part is that his legacy lives forever."
The Mathusa family said he will be missed, but never forgotten.
"Parker Mathusa was a loving and generous man," his family wrote in tribute. "He will be greatly missed by the many people whose lives he has touched."
During a park bench dedication in honor of Mathusa at Town Hall in October, his granddaughter Brittney Tangora said her "pops" taught her the most important lessons of life.
"Pop, you've been everything to me. I wish I could stay in your arms forever and hear your heart beat against my ear," Tangora said. "You have proven to me that even smallest things in the life matter the most."
The Parker Mathusa bench can appropriately be found near the Hudson River in the Henry Hudson Park in Selkirk.""