Actor James Michael Tyler died aged 59 from prostate cancer which was diagnosed in 2018.
"Tyler passed away peacefully at his home in Los Angeles on Sunday morning," a statement from his manager said.
He was prescribed hormone therapy, however, the cancer was spreading to his bones and spine which led to paraplegic.
Tyler is best known for playing a waiter and manager Gunther in the show's coffee house, Central Perk. In the story, he was in love with Jennifer Aniston's character Rachel throughout the TV show, who also worked in Central Perk as a waitress in the early seasons.
He couldn’t attend the shooting of the special episode of Friends in late May, but he briefly showed up via Zoom at the event which was dedicated to the new episode.
Jeniffer Aniston wrote on her Instagram page: "Friends would not have been the same without you. Thank you for the laughter you brought to the show and to all of our lives. You will be so missed."
Despite the illness, Tyler continued to work in recent years. He starred in two short movies - The Gesture and the Word, and Processing - awarded the best actor prizes at different film festivals.
Tyler took part in 150 episodes of Friends from 1994 to 2004.
In addition, he was in Scrubs, Sabrina - the teenage witch, Episodes.