Hello,

I have a "contact" panel that is positioned on the right of the page. However, on pages where the body is longer than the contact panel, there is a gap under the contact panel going to the footer.
I was wondering if theres a way to incorporate a panel to "fill the gap".

http://www.totallykidscc.com/mission.html

If understand you correctly, you want to fill the gap below right panet by body content?
If so, than you may use floating ability of CSS:
1. First move "rightcolumn" div INSIDE and at the BEGINING of your "Content2" div like this:

<div id="content2">
    <div id="rightcolumn">
    ... something in the right column ...
    </div>
...
something in content
...
</div>

2. Insert "folat:right;" in css for rightcolumn

#rightcolumn {
	float:right;
        ...

Remember that floating content must have width speceifed! Don't remove it form style of rightcolumn.
3. Make wider your content div.
Good luck.