Walter Scott Jr., a founding member of the iconic R&B group The Whispers, died after his six-month-long battle with cancer on Thursday.

He was 81 years old.

Scott was surrounded by his loved ones in Northridge, Calif., a suburb of Los Angeles, when he died, according to the Los Angeles Sentinel.

The iconic group’s former publicist, Desirae Lee Benson-Brockington, expressed her sorrow over the pioneering musician’s passing, stating that Scott’s “legacy will endure indefinitely.”

“Walter was beyond just a performer — he was integral to a movement that introduced soul, harmony, and timeless love ballads to countless generations,” Benson-Brockington expressed. “Every note, every lyric, and the countless fans he touched will carry on his enduring legacy.”

Benson-Brockington started working with the group in 2020, decades after the artists formed their influential style. 

“His performances were a masterclass in elegance and soulfulness — yet knowing him personally was the true privilege,” Benson-Brockington continued. “We’ll deeply miss his comforting presence, his insights, and the unique way he made everyone feel significant. Rest in peace, Walter. Your voice continues to resonate, as does your legacy.”

The “And the Beat Goes On” singer was born in Fort Worth, Texas, but moved to Los Angeles in 1959.

Scott formed The Whispers during high school in 1963 alongside his identical twin brother, Wallace “Scotty,” Nicholas Caldwell, Marcus Hutson and Gordy Harmon, according to Billboard.

Scott’s music career was put on hold after he was drafted to serve in the Vietnam War, but he returned to the group in 1969, the same year the group’s first album, “Planets of Life, was released.

The musicians got their first taste of success in 1970 when their track “Seems Like I Gotta Do Wrong” cracked the Top 10 on the Billboard R&B charts.

The Whispers maintained a steady presence on the Billboard R&B charts through the 70s with tracks like “One for the Money (Part 1),” “Make It With You,” and “(Let’s Go) All the Way.”

One of the group’s most well-known hits, “And the Beat Goes On,” debuted in 1979 and they received their first – and only – Grammy nomination in 1987 for Best R&B Performance By A Duo Or Group with their single “Rock Steady.”

The Whispers were inducted into the Vocal Group Hall of Fame in 2003 and released over two dozen albums.

Scott is survived by his wife, Jan, two sons, three grandchildren and his twin brother, who is the last founding member of the R&B group still alive.