The skeletal remains of 4 people were found at Gilgo Beach in Long Island on Saturday.
Their identities are yet to be confirmed.
However, the discovery comes almost 8 months after Gilbert's family say she made a frantic 911 call for help from the same location.
It was the last time anyone has heard from her.
"Her last phone call was 21 minutes to 911, when she was grabbed and pulled into a truck, the police missed her by about 5," said Mari Gilbert, Shannon's mother.
"She was basically running away, trying to leave, and it was her going 'get away from me, get away from me', running and knocking on neighbor's doors," said Sherre Gilberg, Shannon's sister.
"Screaming, 'help me, help me, he's trying to kill me," Mari Gilbert said.
Gilbert's family did not hear the 911 calls themselves, but say detectives told them about it and that Shannon, who was working as a prostitute, named her attacker.
The family says it was someone she knew.
"I am worried about if she suffered," Mari Gilbert said.
Gilbert's family says on that night Shannon met with a man she met on Craigslist.
They say police have talked to the man and he has taken a lie detector test.
The results were inconclusive.
It is the kind of violent end that Gilbert's family feared after Shannon turned to a world of drugs and prostitution.
However, that is not how they want to remember her.
They say she was a woman filled with love and much promise.
"I was always worried for her, just don't pass judgment on her," her family said.
Shannon Gilbert's family believe police know the identity of the man she was running from on that night 8 months ago, and now hope that the 911 call will help solve this case.