Ruth Westheimer, the pioneering sex therapist known for her candid discussions on human sexuality, passed away at her Manhattan home on Friday at 96.

Her longtime spokesman, Pierre Lehu, announced her death.

Ms Westheimer, popularly called Dr Ruth, revolutionised conversations about sex and relationships, bringing them into the mainstream with expertise and humour.

Her pioneering radio show, “Sexually Speaking,” which began in 1980, quickly catapulted her to fame.

Born Karola Ruth Siegel on June 4, 1928, in Frankfurt, Germany, Dr Ruth’s early life was marked by tragedy and resilience.

As a child, she was sent to Switzerland to escape the horrors of the Holocaust, during which she lost her parents.

After World War II, she emigrated to Israel, where she served as a sniper in the Haganah, the Jewish paramilitary organisation that later became part of the Israel Defense Forces.

In the 1950s, Dr Ruth moved to the United States to pursue higher education. She earned her Master’s degree in Sociology from The New School and a Doctorate in Education from Columbia University.

Dr Ruth’s media career began by chance when she was invited to host a 15-minute radio segment on sexual health.

She authored numerous books, hosted TV shows, and became a sought-after speaker worldwide.

Dr Ruth is survived by her two children, Miriam and Joel, and several grandchildren.