John Winn, 67, died on Saturday when he suffered a heart attack while driving his Volkswagen Passat across Heath Common.
He had just been to visit his son and grandchildren in Normanton, but they had been out.
So he decided to return home to Crofton, but as he travelled down Black Road his car glided off the carriageway and came to rest in a field.
His grieving widow, Margaret, 66, told the Express about her loss.
She said: "He was absolutely the best. He was a good, kind man, thoughtful, never ruffled and never angry. He always tried to please people."
His wife of 43 years served as the mayoress of Wakefield from 1988-89. She stepped into the role when her widowed dad, George Parkinson, was invested as mayor in May 1988.
She was involved in many civic engagements and Mr Winn played a supporting role behind the scenes.
Mrs Winn said: "He wasn't domesticated but John held this little family together quite happily. When I came back from being mayoress I walked in and there was a bouquet of flowers and a card that said, 'welcome home'."
Mr Winn leaves his wife, son, Mark, 33, daughter, Louise, 38, and grandchildren, Thomas, 15, Matthew, 13, Lauren, 12, and Aaron, two.
His children said their dad was their hero. Daughter Louise Cross said he was the centre of her world.
His son, Mark, said his dad was a keen sportsman and used to open the batting for Crigglestone Cricket Club.
Mr Winn was a retired precision engineer who worked at Slater and Crabtree, on Thornes Lane, for 46 years. He made components that would help produce items as diverse as Challenger tanks, fish and chip trays and hip replacements.
The accident involving Mr Winn, of Cambridge Crescent, Crofton, happpened at 4.25pm. Police closed off Black Road and traffic was diverted.
PC Richard Craig was on the scene within minutes and tried to revive Mr Winn. A motorist and two off-duty nurses also stopped to help. Mr Winn's family wished to thank them, PC Daniel Rotchell and hospital staff for all their help.
A funeral takes place today at 1pm at Castleford Salvation Army, on Booth Street. The family said anyone who knew Mr Winn was welcome to attend.
Anyone with details about last the incident should call police on 01924 295436.