Dr. Ruth Westheimer, the sex therapist, author, and TV personality who rocked the 80s with her no-holds-barred approach to intimacy and relationships, has passed away at the age of 96.

The world-renowned host, who brought sex and related topics to the forefront through her radio and TV shows, Sexually Speaking and The Dr. Ruth Show, passed away on Friday, according to PEOPLE.

Her publicist, Pierre Lehu, stated that Westheimer died in peace, with her son and daughter by her side.

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Westheimer first graced the airwaves in her fifties with her WYNY New York radio call-in show, Sexually Speaking, in 1980.

The fifteen-minute show, broadcast every Sunday at midnight, featured Westheimer’s candid sex advice.

Despite the taboo nature of her content and her midnight schedule, the show became an instant hit, quickly expanding to a nationally syndicated program that expanded to an hour-long format.

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Westheimer’s sex therapy expertise diversified beyond radio into television. She became the leading sex educator on Lifetime, where she hosted several sex advice shows, including Good Sex! With Dr. Ruth Westheimer, where she would end each show with her trademark sign-off message “have good sex.”

Besides her TV and radio career, Westheimer dabbled in acting, featuring in the 1985 film Une Femme ou Deux, which starred Sigourney Weaver and Gerard Depardieu.

She also wrote more than 40 books about sexuality and sex, with her latest novel set to be released later this year titled, The Joy of Connections.

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