Charles, who was 79, died in the Royal Melbourne Hospital on Tuesday morning after suffering a stroke.

He was surrounded by family and friends.

Charles’ family, which has given permission for his name and image to be used, said in a statement that “he will live on in our hearts and memories through his numerous screen and stage roles”.

“Before he passed away, his family were able to send him off on Country during a smoking ceremony at the Royal Melbourne Hospital,” the statement said.

“We are so proud of everything he has achieved in his remarkable life – elder, actor, musician, potter, activist, mentor, a household name and voice loved by all – as is demonstrated by his numerous awards, including this year’s NAIDOC Male Elder of the Year.

“He will live on in our hearts and memories and through his numerous screen and stage roles.

“May he be greeted by his ancestors on his return home.”

Charles was a member of the Stolen Generations who had a storied acting and musical career spanning several decades.

He worked with the late Archie Roach to support Indigenous prisoners, and used his platforms to share painful and personal truths about the brutal impact of government policies on his community.

In his later years, Charles starred in the ABC series Cleverman. Last year, he appeared in SBS’s Who Do You Think You Are?, discovering the identity of his father and his family’s ties to more Aboriginal nations across Victoria and Tasmania.

In 2017, a portrait of Charles by Ahn Do won the Archibald Prize People’s Choice.

-with AAP