MADISON, Wis. -- The body of U.S. Army Sgt. Joshua Brennan returned to Wisconsin on Sunday.

The 22-year-old was killed in Afghanistan just over a week ago. It was his second tour of duty. He died during a firefight with the Taliban, according to military officials.

Brennan's body arrived at O'Hare Airport in Chicago and was given a police escort from Illinois State Police and Chicago police to the Illinois, Wisconsin border, WISC-TV reported.

From there, Madison police and the Dane County Sheriff's Department escorted Brennan's body the rest of the way home.

Police call the honor escort safe passage.

"It means a lot," said Madison police Capt. Carl Gloede. "It means a lot to the police community in that it's a son of a police officer. Mike is well known, loved. It's hard to see a parent lose their son. So we're here to support him."

Brennan had hoped to one day join his father Mike as a Madison police officer.

"Eventually he did," said Gloede. "So, it's a sad day. But we're here to give him the honor, respect and dignity that he deserves."

Brennan will stay at Gunderson Funeral Home with a 24-hour Honor Guard until his funeral and burial on Tuesday.

That's when the community of McFarland plans to honor the fallen hero.

"I think it's such a personal thing," said McFarland resident Sue Hodges. "It's every mom's nightmare, every dad's nightmare. We just want to do something. We feel pretty helpless in all of this, so if we can do anything to make Josh's homecoming whatever it can be, we will."

Residents and students in McFarland plan to line the streets during the funeral processional and invite more people to do the same; a hero's welcome and goodbye.

"Just to let the family know that what he's doing over in Afghanistan was, is rewarded," said Hodges. "We appreciate it. He's fighting for our freedom."

Visitation for Brennan will be held on Monday at Gunderson Funeral Home in Monona from 4 p.m. until 8 p.m.

Funeral services will be held on Tuesday at St. Maria Goretti Church in Madison at 10 a.m.

Members of the McFarland community plan to line the streets around noon on Tuesday. The motorcade will come down Highway 51 to Farwell Street and wind through town so as many people as possible can pay their respects.