On March 23, 2003, Lynch was deployed to Kuwait when her company turned into enemy-held territory.
Eleven American soldiers were killed, and Lynch, along with five others, was taken prisoner.
Lynch's best friend was among those killed.
"She hit her head on the steering wheel; she was no longer able to control the vehicle. We slammed into the back of an 18-wheeler disabled trailer," Lynch said.
Lynch was seriously injured, and held captive for nine days. She was further beaten by her captors.
"My back was broken at the fourth and fifth lumbar, my left femur was broken, my left tibia was smashed by a metal pipe and my right foot was completely crushed," Lynch said.
Lynch was rescued by Marines and Navy Seals.
READ MORE | Chicago, suburbs to mark Veterans Day with events, ceremonies
"He said, 'We're American soldiers. We're Americans. We are here to take you home.' And I replied, 'Yeah, I'm American soldier, too," she said.
Her rescue was the first since War World II and the first-ever woman.
The other five members of her unit were released 21 days later.
Lynch, who is from West Virginia, spoke in Aurora at the city's Veterans Day parade ceremony.
She shared details of her story and recovery.
She was just 19 at the time of her capture.
Now, 21 years later, Lynch offered inspiration to other veterans and all those listening.
"Whatever you are going through, continue to never give up. Continue to make it out of whatever you are facing," she said.
Residents of Aurora showed support for those who have served and sacrificed.
Flags and signs of respect were along the parade route for veterans.
"Your dedication to our country has made us stronger, and we owe you a debt of gratitude that words cannot fully express," said Mayor Richard Irvin, an Army veteran.
Irvin gave Lynch a service award, and honored four local veteran business owners for their ongoing service to Aurora.
Irvin acknowledged National Veteran Small Business Week with a declaration, and he encouraged residents to support the businesses and all veteran-owned business this week and moving forward.