Ruth Westheimer, the superstar sex therapist known to millions as “Dr. Ruth”, has died aged 96.

Westheimer died Friday at her home in Manhattan, her publicist Pierre Lehu confirmed. No cause of death was announced.

The sex therapist, who was born in Germany in 1928, survived the Holocaust before relocating to the United States.

She came to public prominence in 1980 after she began the segment “Sexually Speaking” on New York’s WYNY radio network, helping to de-stigmatize sex for generations of Americans.

She subsequently hosted TV shows and penned more than 45 books.

Just last year, she was appointed by New York Gov. Kathy Hochul as the state’s honorary ambassador to loneliness.

She is survived by her two children and four grandchildren.