EXCLUSIVE: Muhammad Ali's Daughters, Rasheda and Jamillah, Remember Their Father's 'Beautiful' Final Moments

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Muhammad Ali's twin daughters, Rasheda and Jamillah, opened up to ET on Monday about their father's death and the impact he had on the world.

"All of the kids and grandkids were there," Rasheda told ET's Kevin Frazier of her father's final moments. "We were all kissing him. I was on one cheek and Jamillah was on the other cheek. We all took turns just telling stories, laughing, crying. It was a beautiful moment. Those final moments were just the most magnificent."

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"Our last couple of statements were our expressions of how much he meant to us," Jamilla added.

The three-time World Heavyweight Champion died on June 3 after a 32-year battle with Parkinson's disease. He is survived by his nine children (Rasheda, Jamilla, Laila, Asaad, Hana, Maryum, Khaliah, Muhammad Jr. and Miya) three grandchildren (Curtis, Sydney and Biaggio) and wife Lonnie.

"The only way for us to feel OK with getting through the next day, the next week, the next month, is knowing that he's not suffering anymore," Jamilla said of her family's loss. "He's not in pain anymore, and he's happy, and he's in paradise."

Since his death, there has been an outpouring of tributes from celebrities and athletes around the world, from Pele and Kareem Abdul-Jabbar to Justin Timberlake and Madonna. The amount of condolences show how far-reaching his influence was.

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"We are so amazed by the global impact of our father," Rasheda said. "We do know that our father is known all over the world and revered, but now during these unfortunate circumstances I'm deeply touched by so many millions of people that have reached out."

Now, Muhammad's family is focused on continuing his passion for helping people.

"I promised my dad on the day he died, 'We will carry on your legacy for loving and giving,'" Rasheda said. "That's what's important to us right now."

More specifically, Rasheda said her dad's biggest legacy is the Muhammad Ali Center, a museum and cultural center, in Louisville, Kentucky.

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"His charity, his conviction, his confidence, his dedication, respect, most of all his spirituality -- those values are why he created the Muhammad Ali Center," Rasheda said. "Hopefully in the near future, we'll all take part in helping him take those values to the next generation."

The family will gather in Louisville on Thursday to pay tribute to their father with an Islamic funeral prayer program. Muhammad will then be buried on Friday following a funeral service, featuring Bill Clinton and Billy Crystal as speakers and Will Smith as a pallbearer. Get more details in the video below.