Jazz pianist Dave Brubeck, whose novel rhythms, classical structures and an unforgettable sound that made him a towering figure in modern jazz, has died. He was 91.

His Dave Brubeck Quartet put out one of the best selling jazz songs of all time: "Take Five," composed by alto saxophonist Paul Desmond. Like many of the group's works, it had an unusual beat -- 5/4 time as opposed to the usual 4/4.

"Take Five" was the first jazz single to sell a million copies. It was first performed for a live audience in New York in 1959 and was released on the Dave Brubeck Quartet's album "Time Out" in the same year.

Brubeck was awarded with a Grammy Lifetime Achievement Award in 1996.