The funeral mass, which was open to the public, began at 3:30 p.m. at St. Joan of Arc Parish at 2601 San Ramon Valley Blvd.
Orlando, who was a day shy of entering his senior year at San Ramon Valley High School, was riding with a friend in a car driven by a third teen on their way back from a fishing trip when the crash happened at about 8:50 p.m. on Aug. 26.
The car was heading north on El Capitan Drive near Claridge Drive in Danville when it went off of the roadway and struck a tree, police said.
Robert was taken to San Ramon Regional Medical Center, where he was pronounced dead.
His two friends, both 17, were taken to John Muir Medical Center in Walnut Creek. The driver suffered broken ribs and the other passenger had a broken leg, police said.
The cause of the crash is under investigation, but police said drugs and alcohol do not appear to be factors, police said.
Orlando is survived by his parents and two brothers.
One of his brothers arranged for donations to be made in his honor to Fairfield-based nonprofit Kids Day of Fishing, the organization's founder Michael Johns said.
The organization puts together outdoor activities and fishing events for special-needs and underprivileged children. A fishing derby will be held in Fairfield in Orlando's honor sometime in April 2014, Johns said.
He said several donations have come in this past week in honor of the Danville teenager. An online memory board and a physical board that will be taken to various events has his name on them, Johns said.
Johns said Orlando's grandfather contacted the organization about donating Robert's fishing gear to needy children.
Johns said the grandfather called Orlando an avid fisherman.
Donations can be made online at http://www.kidsdayoffishing.org.
The family has also asked that messages, photos or videos of Robert be sent to weloverobert2013gmail.com.