He was born November 29, 1938, in Rowan County, Kentucky, and was the son of the late Lake and Letha Thompson Estep.

Besides his parents, he was preceded in death by one daughter, Maria Cuccarese; six brothers, Ernest Estep, Evan Estep, Elmo Estep, James Estep, Odell Estep, and Burnest Estep; and four sisters, Janice Estep, Sue Estep, Grace Estep, and Eula Faye Estep.

He is survived by two daughters, Rhonda Catrett of Ocoee, Florida, and Tina Estep of Muncie, Indiana; one brother, Ray Estep of Bloomington, Indiana; and two sisters, Alta Gulley of Morehead, Kentucky, and Carol Jean Deckard of Bedford, Indiana; eleven grandchildren; and 3 great grandchildren.

Gilbert was a farmer and an outdoorsman who enjoyed hunting, fishing, NASCAR racing, and riding his 4-wheeler.