Tito Jackson’s three sons remember their father after his death at the age of 70.

In an emotional tribute to their father, who was a member of the famous family band The Jackson 5 and brother of Michael Jackson and Janet Jackson, Taj, TJ and Taryll said they were “shocked, saddened and heartbroken.”

Siggy Jackson, Tito’s nephew, confirmed Tito’s death to PEOPLE. According to Entertainment tonight (who first reported the news) Tito died on Sunday, September 15, apparently of a heart attack.

In a joint post on their band 3T’s Instagram account, Taj, TJ and Taryll wrote: “It is with heavy hearts that we announce that our beloved father, Rock & Roll Hall of Famer Tito Jackson, is no longer with us. We are shocked, saddened and heartbroken.”

“Our dad was an incredible man who cared about everyone and their well-being,” they continued. “Some of you may know him as Tito Jackson of the legendary Jackson 5, others may know him as ‘Coach Tito’ or still others may know him as ‘Poppa T.’ However, he will be greatly missed. For us, it will always be ‘Tito Time.’ Please remember to do what our dad always preached and that is ‘Love one another.’ We love you, Pops.”

The brothers signed the note, “Your boys,” and added the hashtags “#titojackson #titotime #loveoneanother.”

Tito managed his sons’ band 3T and all three appeared in the reality series in 2015 The Jacksons: The Next GenerationThe Lifetime show followed the brothers as they tried to balance their music careers with their family life and the pressures of being a Jackson.

The words in the Instagram post were accompanied by a carousel of images, including old photos of Tito with Taj, TJ and Taryll from their childhood and from the early days of 3T.

Other photos showed Tito as part of the Jackson 5 – consisting of Michael, Jackie Jackson, Jermaine Jackson and Marlon Jackson (and later Randy Jackson) – and Taj, TJ and Taryll performing with their father. There was also a final image of Tito’s signature bowler hat and sunglasses.

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The first picture of the carousel was also shared on the 3T account’s Instagram stories with the caption “We love you @poppat ❤️”.

Tito shared his sons with his late ex-wife Dee-Dee Martes-Jackson.

In the months before his death, Tito had been performing with his brothers Jackie and Marlon as The Jacksons. The group had only performed at the Boogietown Festival in Surrey, England, on September 8. They were scheduled to perform in Atlantic City, New Jersey, on October 25 and in Cincinnati, Ohio, on November 1.

As a trio, the band played a number of hits by the Jackson 5, including “I Want You Back,” as well as songs by their brother Michael such as “Rock with You.”