D'Angelo, the legendary soul singer who gave us hit after hit including Brown Sugar and Untitled (How Does it Feel), died at the age of 51.

Per Variety, D'Angelo's family released a statement confirmed his passing: "We are saddened that he can only leave dear memories with his family, but we are eternally grateful for the legacy of extraordinarily moving music he leaves behind. We ask that you respect our privacy during this difficult time but invite you all join us in mourning his passing while also celebrating the gift of song that he has left for the world."

MORE D'ANGELO: His greatest songs of all time

What was the cause of death? As his family wrote in that statement, it was after "a prolonged and courageous battle with cancer." There are reports that it was a battle with pancreatic cancer.

Did D'Angelo date Angie Stone?

They did in the 1990s and they had a son together. She died in a car crash earlier this year.

This article originally appeared on For The Win: D'Angelo cause of death: How did the legendary singer die?

Reporting by Charles Curtis, For The Win / For The Win

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