Legendary former Penn State football coach Joe Paterno died Sunday, his family said in a statement, according to ABC News. He was 85.

According to ABC, his family released this statement:

It is with great sadness that we announce that Joe Paterno passed away earlier today. His loss leaves a void in our lives that will never be filled.

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He died as he lived. He fought hard until the end, stayed positive, thought only of others and constantly reminded everyone of how blessed his life had been. His ambitions were far reaching, but he never believed he had to leave this Happy Valley to achieve them. He was a man devoted to his family, his university, his players and his community.

He has been many things in his life – a soldier, scholar, mentor, coach, friend and father. To my mother he was and is her soul mate, and the last several weeks have shown the strength of their love. To his children and grandchildren he is a shining example of how to live a good, decent and honest life, a standard to which we aspire.