Elliott's mother and brother, Patti and Bradley Elliott, remember him as a hero called to serve his country after America was attacked nearly 10 years ago.
"He look at the TV as we watched everything happen, and said 'I want to be a soldier, I want to serve my country. I don't want this to happen again,'" Elliott's mother Patti said.
Elliott, who served five years in the military, was killed in southern Iraq Friday when the vehicle he was riding in was hit by an IED. Four other soldiers were injured.
"Those boys and girls need our prayers," Patti Elliott said. "They have gone through a terrible experience seeing one of their brothers fall and they still have to go on with their mission. So, our thoughts and prayers are with them."
Patti Elliott has made troops fighting the nation's wars her mission. She has dedicated herself to helping families grieve over loved ones lost while fighting overseas. She was featured in an ABC11 Armed Forces Salute last year.
"I know what to say to families in situations like this," she said. "I know what they go through. I know what resources to refer them to, but its hard to take your own medicine, though."
Lucas Elliott would have celebrated his 22nd birthday on Monday.
His mother says her son's body arrived at Dover Air Force Base overnight Sunday.
"He's back in the U.S., home for his birthday and that's important to us," Patty Elliott said. "His favorite meal was barbeque ribs, so we will have that today and celebrate his life. "I still worry and I want everyone to pray for his brothers and sisters who witnessed his death and have to carry on with the mission."
Lucas Elliott will be buried at Arlington National Cemetery. The date of his service has not yet been set.