The up-and-coming pop star was killed last weekend while signing autographs after a performance in Orlando, Florida.
Through her tears, Grimmie's mother thanked the crowd for attending the memorial.
"Those that I've known for many years that have been a part of our lives, that have touched our lives, they have counseled me, that have loved us, that have been there through difficulties, it's to you I'm very grateful," said Tina Grimmie, the singer's mother. "I just want her to come home, I want to see her."
Grimmie's brother Marcus, who tackled the gunman, identified as 27-year-old Kevin Loibl, also spoke.
Loibl fatally shot himself during the struggle. Investigators think Loibl was an obsessed fan.
Grimmie was a YouTube star who was widely known from her appearances on NBC's "The Voice" two years ago.
She lived in Evesham Township, a small community about 20 miles from Philadelphia, before moving to Los Angeles in 2012.
Grimmie's team posted an "In Loving Memory" video to YouTube Friday. Watch it in full below: