The 51-year-old had originally planned to start her leave after today's show but announced Thursday that she'd begin it a day early so she could fly home to Mississippi to be with her ailing mother.
On the show Friday, Stephanopoulos said that Robin "wanted to get home a little early to say goodbye to her mom. She made it home just in time."
He also described Lucimarian as "a woman filled with so much joy."
Lucimarian was the author of the inspirational book My Story, My Song, which featured fond reflections and recollections from Robin.
Our thoughts are with Robin and her family at this difficult time.
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