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

Steve Manning, a longtime family friend, told Entertainment Tonight that Jackson died during a road trip, but the cause of death has yet to be determined. Tito’s cousin, Siggy Jackson, also confirmed the news to People.

Tito performed with brothers Jackie Jackson and Marlon as the new The Jacksons last summer and performed again on September 8 in Surrey, England. 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 one of the original founding members of the iconic Jackson 5, the revered family pop group had hits like “I Want You Back,” “ABC” and “I’ll Be There” in the late 1960s and early 1970s. 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 five brothers who preceded Tito in death.

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

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