Hilary Duff is speaking out following the death of actor Robert Carradine, who played her dad Sam McGuire on the beloved series Lizzie McGuire.

Robert passed away on Monday (February 23) at the age of 71 and his family confirmed his cause of death in a statement.

Hilary took to her Instagram account to share some old photos and some touching words.

Keep reading to find out more…

“This one hurts. It’s really hard to face this reality about an old friend. There was so much warmth in the McGuire family and I always felt so cared for by my on-screen parents. I’ll be forever grateful for that. I’m deeply sad to learn Bobby was suffering. My heart aches for him, his family, and everyone who loved him. 💔,” Hilary said in her statement.

Read what Robert‘s brother Keith Carradine said in a statement and also read the tribute from his daughter, actress Ever Carradine.