Lyon has worked at Troop H for almost 30 years.
He followed in his great-grandfather's footsteps to become a law enforcement officer and serve others in the St. Joseph community.
"No one in our family had been a policemen since the 1920's," added Lyon.
In 1985, Lyon started his journey at the patrol academy and says what he learned during those 6 months changed his life and the way he views officers.
"I look back now with fond memories but I would never want to do it again because it was very tough and very grueling training," said Lyon.
Lyon says his proudest moment as a trooper was the day he graduated from the patrol's academy.
He says he worked hard and knew all of his work had paid off once he became an officer.
It was also then that he met one of his longtime friends and colleagues, Robert Kimberling.
Kimberling was killed in the line of duty October of 1999, Lyon says talking about his friend still hurts.
"Losing a good friend like that is something that til this day is a little bit difficult to to talk about, especially the type of guy Bob was," said Lyon.
His biggest regret is not having Kimberling here to celebrate this moment.
"If I have one regret now that I'm retiring it's not that Bob isn't there with me to retire alongside of me," added Lyon.
Throughout his tenure, Lyon represented the Highway Patrol from the start of the Amber Alert system in Missouri.
He also assisted during the Conception Abbey murders in 2002 and with the murder investigation of Bobbie Jo Stinnett in 2004.
He even spoke on behalf of troopers when two of their own passed, Kimberling and Fred Guthrie.
Lyon says his next role as the director of the St. Joseph Safety Council allows him to continue to serve the community.
Lyon says he hopes the legacy he leaves behind will continue to show the patrol's tradition and honor.
He says he will still stress to everyone he meets the importance of wearing a seat belt even if he is no longer an officer.