MADISON, Wis. -- Sgt. Joshua Brennan was remembered on Tuesday morning as a loyal soldier who planned to join his father as a Madison police officer when his tour of duty was complete.

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The 22-year-old was shot by Taliban fighters in Afghanistan last month, according to military officials.

Forty Madison police officers served as honor guards for Brennan at funeral services Tuesday, where the U.S. Army paratrooper received full military honors.

Hundreds turned out in church and for the procession in a huge show of support, WISC-TV reported.

The Rev. Michael Burke said Brennan's second tour of duty in Afghanistan had been extended by a year under the Army's stop-loss policy. He said the soldier's father, Michael Brennan, of McFarland, was disappointed but Josh said he'd rather fight another year and then come back home.

Brennan graduated from high school in Oregon in 2003.

Brennan didn't spend his entire life in Wisconsin. His father lives in McFarland and he spent summers here. But his death touched many from that city and across the area, and many on Tuesday said they wanted to show their support.

Family and friends described Brennan as a military hero who also had a deep love for his friends and family.

"He was such an amazing person and our family truly couldn't have loved him more," said Jessica Brennan, a cousin of Joshua Brennan. "Looking back on the way we always got together when Josh was home it was like we all somehow knew we would only have him for a short time."

Many in Brennan's father's home of McFarland didn't know Joshua personally but said they now feel like they do.

"We are supporting the family who is grieving the loss of their son and we are standing in support of him and our country," said one resident.

As the funeral procession passed through the city, parents, students and mourners were solemn, with the only sound coming from rippling flags and tears, WISC-TV reported.

"I thought it was important that my girls and my son from high school witness this historical moment, (and) on top of that to bring war home to their hearts where TV has desensitized us from that," said Karianne Sletten, who brought her children to the street.

"In reality, very few of us have been asked to sacrifice through this entire ordeal and so a little bit of reality coming home sometimes wakes people up and helps them to see into the window of what it takes to serve in the military," said Randy Psyk, an Air Force veteran.

McFarland High School student Lexi Schroedl helped make signs for the funeral procession.

"We love you Josh, and we support your family. And thanks for everything you've done for us," Schroedl said.

Brennan was a member of the 173rd Airborne Brigade.