The pontiff had recently had a lengthy stay in a Rome hospital suffering from double pneumonia.
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Pope Francis died on Monday morning at the age of 88, Cardinal Kevin Farrell, the Vatican camerlengo, has announced.
"At 7:35 this morning, the Bishop of Rome, Francis, returned to the home of the Father. His entire life was dedicated to the service of the Lord and of his Church," Farrell said in the announcement.
"He taught us to live the values of the Gospel with faithfulness, courage, and universal love, especially for the poorest and most marginalized. With immense gratitude for his example as a true disciple of the Lord Jesus, we commend the soul of Pope Francis to the infinite, merciful love of God, One and Tribune."
The pontiff recently spent five weeks in a Rome hospital, battling against a life-threatening bout of double pneumonia.
He returned to the Vatican and lighter duties towards the end of March.