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

While paying 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 shared that they were “shocked, saddened and heartbroken.”

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

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, has passed away. We are shocked, saddened and heartbroken.”

“Our father 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, some may know him as ‘Coach Tito’ or some may know him as ‘Poppa T.’ Regardless, we will miss him dearly. It will always be ‘Tito Time’ for us. Remember to do what our father always preached and that is ‘Love one another.’ We love you, Pops.”

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

Tito managed his sons’ band, 3T, and all three appeared in the 2015 reality series 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 Jackson.

The words in the Instagram post were accompanied by a series of images, including throwback photos of Tito with Taj, TJ and Taryll when they were kids and 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), with Taj, TJ and Taryll performing on stage with their father. The last photo showed Tito wearing his trademark bowler hat and sunglasses.

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

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

In the months before his death, Tito performed with brothers Jackie and Marlon as The Jacksons. The group performed at the Boogietown Festival in Surrey, England, on September 8, and 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”, but also songs by brother Michael, such as “Rock with You”.