Don Griffin, the guitarist for '60s soul band The Miracles and R&B songstress Anita Baker, died after being hit by a car Thursday in Denver, reported Billboard. He was 60 years old.

Griffin was struck and killed by a vehicle as he tried to cross I-25 in Greenwood Village, reported the Denver Post. He was pronounced dead at the scene Thursday night, and his body was identified Tuesday. Local law enforcement is still investigating his death.

"It is currently unknown why he was in the traffic lanes of the interstate," said the Greenwood Village police in a news release obtained by the Denver Post. "The driver that struck the pedestrian remained on scene and is cooperating with investigators. At this time, there is no suspicion that the driver was impaired by intoxicants or speeding."

Griffin was born in Baltimore and honed his musical skills at the prestigious Peabody Conservatory of Music at 17, according to the Hollywood Reporter. He joined his brother Billy Griffin's soul band The Miracles in 1974 and played rhythm and lead guitar.

After the band broke up, Griffin was asked to join vocal powerhouse Baker's band as a rhythm guitarist, according to Billboard. He performed on her 1986 album "Rapture."

Griffin is survived by his son Brandon, brother Billy and sister Diane Pruitt.