Christopher Malcolm, who played Brad Majors in the original stage production of The Rocky Horror Show, died Saturday, according to his daughter. He was 67.

"Today the world lost a beautiful, brilliant man," Morgan Malcolm tweeted. "My dad Christopher Malcolm left peacefully and with dignity. He will always be my hero. X."

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Born in Aberdeen, Scotland and raised in British Columbia, Canada, Malcolm returned to the UK after studying theatre at the University of British Columbia. He got his start performing with the Royal Shakespeare Company.

After appearing in the original Rocky Horror in the 1970s, Malcolm co-produced a revival of the musical in 1990 at the Piccadilly Theatre. The production went on to tour nationally and around the world, and came to Broadway in 2000.

Malcolm's film credits include Star Wars Episode V: The Empire Strikes Back, RedsRagtimeLabyrinth and Highlander. He also guest-starred on Absolutely Fabulous as Sally's father, Justin.

Malcolm lived in London with his wife, Judy.