"Dad passed away 13 years ago today and we miss him every single day but today we wanted to share with you a glimpse of who he was," Kim wrote. "It was hard to find footage of our dad since he loved to film us and was always behind the camera but here's a little look into who he was to us."
Robert Kardashian, Sr. -- who was best known as one of O.J. Simpson's attorneys during his double-murder trial -- was 59 when he died in 2003 after battling cancer.
In February, Kim, Khloe and Kourtney remembered their father on what would have been his 72nd birthday. "So much has gone on in our lives since you've been gone, and I know you have been my guardian angel seeing it all unfold!" Kim wrote at the time. "I love you and miss you so much!"
That same day, the 35-year-old reality star also shared the first photo of her son, Saint. "Today is my dad's birthday. I know there's nothing more in the world he would have wanted than to meet his grandchildren," she captioned the pic. "So I wanted to share this pic of Saint with you all."