Her mother, Latice Sutton held an event in Agoura on behalf of Mitrice Inc., a non-profit founded in her daughter's memory.
Sutton wanted to bring awareness to mental health issues and public safety.
Families were encouraged to bring their children to be photographed and fingerprinted.
"Should someone find themselves in a disaster, and their loved one goes missing, then they have a packet already made available," said Sutton.
Los Angeles County Sheriff's Department officials were also present during the rally.
"Today is a rally. Today is an educational situation. Today is their day, and we are here just to support them in any way that we can," said Steve Whitmore with the L.A. County Sheriff's Department.
Sutton also passed out brochures and other literature on mental health issues.
She alleges deputies were negligent in releasing Richardson knowing that she showed mental health problems.