Bill Miller, the pianist who played with Frank Sinatra for more than 40 years, has died. He was 91.

The BBC reports that Miller passed away in a Montreal hospital where he was recovering from a broken hip and a later heart attack.

Miller first worked with Sinatra in 1951, and stayed on with the legendary singer until his last concert in 1995. He also played on many of Sinatra’s biggest records, and performed at his funeral in 1998.

For the past eight years, Miller has been appearing with Frank Sinatra Jr.

Born in Brooklyn, NY, and mostly self-taught, Miller also played with greats like Tommy Dorsey and Benny Goodman before being recruited by Sinatra in Las Vegas.

“He didn’t seek out fame,” Miller’s daughter, Meredith, said to Reuters. “He was very low-key and I think that was one of the reasons that he and Frank Sr. and Frank Jr. – but Frank Sr. in particular – got along so well.”