Sgt. Sean K. Cataudella wrote to his parents from Iraq that he was spending part of his time chasing down Iraqi men who were shooting off machine guns in the streets — and the other part handing out candy to Iraqi children.

“Sean was such a compassionate guy. He felt for those kids,” said his father, Sal Cataudella.

Cataudella, 28, of Tucson, Ariz., died Aug. 30 when a vehicle he was driving hit an embankment and rolled into a canal. He was stationed at Fort Hood and was serving as a scout in Iraq, going ahead of other troops to scope out enemy terrain.

“He did it because he loved his country and he was always an adventurous soul,” his father said.

Cataudella joined the Army eight years ago after high school and also served in Bosnia, said his...