Police said 33 others were seriously injured.
The parcel courier drove into a group of about 100 mourners as they made their way from a church to a cemetery in the Bavarian town of Jettingen-Scheppach.
Police said the cause of the accident was unclear, but suspected the driver had suffered a heart attack.
A total of 35 people were treated in nearby hospitals, with 13 helicopters deployed in the emergency.
Two of the injured later died at hospital, police said.