Don Iwerks, the former Disney executive who innovated several cinematic advancements during his career, has died. He was 96.

The Iwerks Entertainment co-founder died peacefully on Thursday at Ojai Community Memorial Care Center, “surrounded by the love of family and friends,” according to an obituary shared by his family.

“Those who knew Don remember not only his extraordinary accomplishments, but the quiet grace with which he achieved them,” the family said of Iwerks. “Like his father, he delighted in solving problems, sharing knowledge, and celebrating the successes of others. Humble, endlessly curious, and unfailingly optimistic, he believed every challenge held the possibility of a solution.”

They added, “Up to the end he was sketching new inventions, cheering on the Los Angeles Dodgers, and watching classic films. Mary Poppins remained especially close to his heart—a film whose optimism and enduring message that anything was possible perfectly reflected the way Don lived his life. … To the world, Don was an engineer, inventor, and Disney Legend. To those fortunate enough to know him, he was a devoted husband and father, a trusted mentor, a steadfast friend, and an eternal optimist.”

Disney CEO Josh D’Amaro paid tribute to Iwerks in a statement. “Don embodied that rare combination of heart, ingenuity and passion that has always defined Disney. Through his innovative contributions to some of our most iconic films and attractions, he helped create experiences that have delighted generations of fans around the world. All of us at The Walt Disney Company will miss him deeply, and we send our most heartfelt condolences to his family, whose enduring connection to Disney has helped shape its legacy for over a century,” he said.

Born July 24, 1929 in Dallas, Texas, Iwerks grew up in Southern California, where his father, animator Ub Iwerks, became Walt Disney’s business parter, co-creating Mickey Mouse and Oswald the Lucky Rabbit.

In 1950, Don followed in his father’s footsteps when he began working at Walt Disney Studios’ Process Lab, shortly before he served for more than a year in Germany as a U.S. Army Signal Corps photographer during the Korean War.

Don returned to Disney in 1952, working alongside his father in the Studio Machine Shop to help develop cameras, optical printers and special effects systems for Disney films and theme parks, including the original Circle-Vision camera system, refinements to the sodium traveling matte process used in Mary Poppins (1964), and numerous projection technologies for Disney attractions around the world.

After 24 years, Don and fellow Disney exec Stan Kinsey co-founded Iwerks Entertainment in 1986, which became a global pioneer in giant-screen theaters, motion simulators and immersive 3D experiences worldwide.

In 1998, Don was awarded the Gordon E. Sawyer Award at the Oscars for his technical contributions to the motion picture industry. He and his father Ub were also honored with a dedicated Main Street, U.S.A. window in Magic Kingdom at Walt Disney World Resort.

Don is survived by survived by wife Betty; son Larry; son John and wife Chris; documentarian daughter Leslie and great-nephew Mike, both of whom went on to work at The Walt Disney Company. Don was preceded in death by his daughter Tamara, “whom he loved deeply and carried in his heart always.”

In lieu of flowers, the family asks that donations be made to the Community Memorial Continuing Care Center of Ojai and The Walt Disney Family Museum.