LOS ANGELES (CBS/AP) — Grammy-winning jazz singer Al Jarreau has died in a Los Angeles hospital just days after announcing his retirement from touring due to exhaustion.

In a statement, Joe Gordon, Jarreau’s manager said the singer died 5:30am PST, while in the hospital. He was comfortable and surrounded by his friends and family.

READ MORE: East Bay Entrepreneurs Eager for Red Tier Easing to Boost Business

Milwaukee native Jarreau is best known his hit songs “Mornin’,” “After All,” “We’re In This Love Together” and the theme to the hit series “Moonlighting” starring Bruce Willis and Cybill Shepherd. The song earned a GRAMMY nomination for Best Song Written Specifically for a Motion Picture or for Television, which was written by Jarreau and writing partner Lee Holdridge.

In 1962, after earning a master’s degree in vocational rehabilitation from the University of Iowa, Jarreau got a job in San Francisco as a rehabilitation counselor.

READ MORE: UC Researchers Find North Coast Kelp Forest Nearly Wiped Out

At night, he moonlighted as a jazz musician, performing with Bay Area jazz great, George Duke as part of his trio. Jarreau then partnered with acoustic guitarist Julio Martinez and performed at Gatsby’s in Sausalito. This pairing is said to have led to Jarreau’s decision to take music on as his lifelong career.

Jarreau is a seven-time Grammy Award-winner. His last Grammy win was in 2006 for Best Traditional R&B Vocal Performance for “God Bless The Child” with George Benson and Jill Scott.

Jarreau is survived by his wife Susan and his son Ryan.

MORE NEWS: Man, Woman Found Stabbed in Downtown Mountain View Sunday Morning

TM and © Copyright 2017 CBS Radio Inc. and its relevant subsidiaries. CBS RADIO and EYE Logo TM and Copyright 2017 CBS Broadcasting Inc. Used under license. All Rights Reserved. This material may not be published, broadcast, rewritten, or redistributed. The Associated Press contributed to this report