BROOKLYN - Family and friends gathered Tuesday to remember the life of a well-known rabbi who died after being struck by a livery cab in Crown Heights.

Services for Rabbi Yekatiel Rapp were held at the Chabad-Lubavitch World Headquarters on Eastern Parkway. The streets were filled with people who traveled from all over the state to pay their respects.

Investigators say Rapp was struck at around 5:30 p.m. Monday by a livery cab driver who reversed out of a parking lot, hitting him multiple times before stopping. Rapp died shortly after.

The cab driver stayed at the scene and has not been charged.

Friends who refer to Rapp as "Kuti" say he was a good person who will be missed. He served at the yeshiva of the Chabad-Lubavitch World Headquarters.

The funeral procession moved to Queens, where the rabbi will be laid to rest.

Rapp leaves behind a wife and four children. A fund has been set up to help provide for the family.