"Our prayers and thoughts are with his wife, Sheila, his three daughters, his grandchildren and entire family during this difficult time."
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Steelers head coach Mike Tomlin also released a statement in response to the news.
"Darryl was a close friend and had a tremendous impact on my coaching career. He was an amazing husband, father and grandfather, and it is difficult to put into words the grief our entire team is going through right now.
"Darryl loved the game of football and every player he ever coached. We will use our faith to guide us and help his family throughout the difficult time.
"My heart and our prayers are with his wife, Sheila, and Darryl’s entire family."
Team officials said in a Facebook post they would not be holding their regular Sunday training camp practice and that St. Vincent College in Latrobe would be closed to all fans.
According to Steelers.com, Drake was entering his first year as the team's wide receivers coach and in his 15th season as a coach in the NFL. The website said Drake spent the last five years coaching with the Arizona Cardinals and the previous nine years with the Chicago Bears, coaching well-known players Larry Fitzgerald and Brandon Marshall.