BETHESDA, Md. (AP) -- For all his accomplishments -- Peace Corps director, ambassador, leader of the war on poverty -- R. Sargent Shriver ultimately became known first as an in-law.
The brother-in-law of President John F. Kennedy and Sen. Edward Kennedy, and, late in life, father-in-law of actor and former California Gov. Arnold Schwarzenegger, died Tuesday, after being hospitalized for several days in his native Maryland. He was 95 and had suffered from Alzheimer's disease since at least 2003.
An invitation-only funeral is planned at Our Lady of Mercy Parish in Potomac, Md., on Saturday.
One of the last links to President Kennedy's "Camelot," Shriver, a businessman and lawyer, helped his late wife and Special Olympics founder Eunice Kennedy Shriver -- a sister of JFK and Edward Kennedy -- run the organization that allows disabled people to participate in sports.
President Barack Obama called Shriver, "one of the brightest lights of the greatest generation."
"Over the course of his long and distinguished career, Sarge came to embody the idea of public service," Obama said in a statement.
Speaking outside Suburban Hospital in Maryland where his father died, Anthony Kennedy Shriver said his father was "with my mom now," and called his parents' marriage a great love story.
Eunice died on Aug. 11, 2009, at age 88. The Kennedy family suffered a second blow that same month when Sen. Edward Kennedy died after a long battle with brain cancer.
"He leaves behind an astonishing legacy of people helped, lives transformed, and communities improved," the Clintons said. "Through his work and his passion, he helped build a better America and a more humane world."
His famous son-in-law, Schwarzenegger, called Shriver an inspiration.
"As someone who has always believed very strongly in the power of the body and the power of the mind and the power of will, Sargent taught me a new power: the power of the heart," said Schwarzenegger, who is married to Maria Shriver.
Besides Maria and Anthony, the Shrivers had three more sons -- Robert, Timothy and Mark. Mark Shriver was elected to the Maryland House of Delegates in 1995 and ran unsuccessfully for Congress in 2002. They also had 19 grandchildren.