William Guest, who was a member of Gladys Knight and the Pips, has passed away. The 74-year-old crooner (pictured, far left) died of congestive heart failure in Detroit on Thursday (Dec. 24), according to the Associated Press.

"My heart is broken, but I know his legacy will live on," said Guest's daughter, Monique Guest, in a statement.

Guest, who was a cousin of Gladys Knight, performed background vocals on a number of the group's songs, including "Midnight Train to Georgia," “If I Were Ever Your Woman” "Friendship Train" and “Save the Overtime (for Me),” among many others in the group’s 30-year career.

Gladys Knight & The Pips were inducted into the Rock and Roll Hall of Fame and the Vocal Group Hall of Fame in 1996 and 2001 respectively. The legendary group are also three-time Grammy Award winners. Their classic song, "Midnight Train to Georgia," was enshrined in the Grammy Hall of Fame in 1999.

Guest's sister-in-law, Dhyana Ziegler, is also saddened by the singer's death. She helped released his autobiography, Midnight Train From Georgia: A Pips Journey, which was released in 2013.

"I am so glad we finished the book, so his wonderful life and legacy will be celebrated throughout eternity," she told AP. "I loved my brother so much."

We want to send our sincerest condolences to William Guest's family as well as to Gladys Knight and surviving Pips singer, Merald "Bubba" Knight, Jr.

Watch Gladys Knight & the Pips Perform "Midnight Train to Georgia"

Watch Gladys Knight & the Pips Perform "Neither One Of Us"

Watch Gladys Knight & the Pips' "Save the Overtime (For Me)" Video

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