Upon Taylor's arrival, it was clear that McMillan had a brain aneurysm and required immediate medical attention.
McMillan "died" twice on his way to the hospital, with Taylor "bringing him back" both times.
On Friday morning, McMillan's employer SealesWinslow donated $1000 to St John as a thank you for the work Taylor and her St John team did with McMillan that day.
Darryn McDonnell, regional manager for the Central North Island at SealesWinslow, said it had a health and safety board with a variety of objectives.
If the team hits all the objectives, the business contributes $500 to a local charity or organisation. For the past three years, SealesWinslow has donated $1000 twice annually to charities around the region.
"Health and safety is really important to us. They really engaged on safety on site and make sure they meet their objectives. They have to be able to meet their objectives for me to write out the cheque. It's not me, it's about them."
A committee decides who the company donates money to and McMillan had only one answer in mind.
"When they asked if anyone had any ideas, my hand went up for St John. Of course. I'm still here today because of you," said McMillan.
"I wouldn't know what my kids are doing, how well they are doing. I wouldn't be able to work with SealesWinslow and wouldn't have met so many great guys. If you guys didn't look after me, I wouldn't be here, so thank you very much.
"There are side effects I can't get away from, it is what it is. Of course, I wouldn't be sitting here today if she hadn't saved me."
Taylor looks back on that day she helped McMillan.
"I was only one part of the team. He was as sick as you could get. To see him up and walking around, doing day-to-day life, is just incredible.
"I wish more people would come tell us how they are for those events. I would love for more people to come tell us. A lot of the time, we don't ever know."
Wanganui area committee deputy chairman Peter Rennett said the donation will be well received.
With several renovations needed at the ambulance station, the money will go towards future programmes that can improve the impact St John has on the community.
"This money comes in really handy. As a charity, we struggle to get money for programmes outside of ambulance. Donations from the public are absolutely vital, so we thank you very much."
McMillan said it hasn't been easy recovering from his accident, but is immensely appreciative of all the work St John does and how vital it is to the community.
"For myself, I don't think it gets out there enough what you do. The people of Whanganui don't realise what you are doing and the lengths you go to for people.
"I always look at it as, would I be here today. No I wouldn't. I have met a whole lot of friends since who I never would have met without her."