The soul singer died Sunday night at his home in Las Vegas, TMZ reported.

Williamson, who was not an original member, joined the Temptations in 2006 and sang with the group until 2015.

The Compton, California native told Las Vegas Black Image Magazine that singing in churches in his youth helped him get in tune with his soulful roots at a young age.

“After seven years as a Temptation I am still in awe,” he told the magazine in 2013. “I can remember the first time I performed with the group: at a millionaire’s private birthday party, on a small stage that was erected on his tennis courts.”

Williamson said his manager Dave Wallace introduced him to Ron Tyson of the Temptations, describing him as “the greatest singer he has ever heard.” He said Tyson groomed him for a decade, trying to get him into the group, but founding member Otis Williams was against it.

“Williams was initially against me joining the group, because he thought I was too big and too young,” he said.

TMZ reported that Williamson’s son also posted a tribute to his late father, who had been battling COVID-19. “There’s no words in the world that can express how I feel right now I love you Daddy thank you for being awesome thank you for being loving thank you for being Who You Are I pray to God and we will meet again. I love you Daddy R.I.H KING WILLIAMSON,” he wrote.