Tito Jackson, the sang and danced with brothers Michael, Jermaine, Jackie and Marlon as a founding member of the family group Jackson 5, died on Sunday. He was 70.

Steve Manning, a longtime family friend, told Entertainment Tonight that Jackson died while driving, but the cause of death has not yet been determined. Tito’s nephew Siggy Jackson also confirmed the news to People.

Tito was with the brothers Jackie Jackson and Marlon as a renewed The Jacksons last summer and performed in Surrey, England, as recently as September 8. Over the past two decades, he has also recorded as a blues guitarist under his own name or with the BB King Blues Band.

As a founding member of the legendary Jackson 5, the famous family pop group had hits in the late 60s and early 70s such as “I Want You Back”, “ABC” and “I’ll Be There”. The band, which later included Randy Jackson, was inducted into the Rock and Roll Hall of Fame in 1997 and honored with a star on the Hollywood Walk of Fame.

Michael, who died in 2009, is the only member of the original line-up of the five brothers to die before Tito.

Earlier this week, Tito and the Jacksons visited the “beautiful” memorial dedicated to “our beloved brother” Michael Jackson in Munich, Tito wrote in a Facebook post. “We are deeply grateful for this special place that honors not only his memory but also our shared legacy. Thank you for keeping his spirit alive.”

This story develops