Withers, a three-time Grammy Award-winning singer and songwriter famous for his hits "Lean on Me" and "Ain't No Sunshine," died on March 30 in Los Angeles from heart complications, his family told the Associated Press in a statement on April 3.
"We are devastated by the loss of our beloved, devoted husband and father. A solitary man with a heart driven to connect to the world at large, with his poetry and music, he spoke honestly to people and connected them to each other," read the statement. "As private a life as he lived close to intimate family and friends, his music forever belongs to the world. In this difficult time, we pray his music offers comfort and entertainment as fans hold tight to loved ones."
Musicians across genres mourned the "Lovely Day" singer on social media after learning of his passing.
Withers, who stepped back from the music industry during the 1980s, was inducted into the Rock and Roll Hall of Fame in 2015.