Zak Williams, the son of Robin Williams, considers watching his father assist strangers on the street! 

Zak Williams, the son of Robin Williams, considers watching his father assist strangers on the street!

Zak tells PEOPLE about his father, who passed away in 2014 at the age of 63, “It was deeply important to him to help improve the human condition.”

Zak Williams is honoring the kind and loving nature of his father, Robin Williams.

At the 12th Annual Bring Change to Mind Revels & Revelations event, the late actor and comedian’s older son talked exclusively to PEOPLE about Robin’s passion for helping those in need, including random people he met on the street.

“When I was a little kid and we’d be walking in San Francisco where I grew up, he would stop, talk to someone on the street — a homeless person — say, ‘Hey boss, what can I do for you?'” he relates. “And we’d see him get meals, food, money.”

According to 41-year-old Zak, his father’s act of kindness was heartwarming and motivational. “He cared deeply about people in need, and I think for me, he opened my eyes to really what kindness was all about,” he said.

Together with his siblings Zelda, 35, and Cody, 33, Zak has made it their goal to continue their father’s charitable legacy since Robin passed away in 2014 at the age of 63. “It was deeply important to him to help improve the human condition, and that extends beyond helping people laugh and learn about themselves,”

he told others.It also had to do with how he might aid charities like the Challenged Athletes Foundation, the [Christopher & Dana Reeve] Foundation, and St. Jude’s by raising money and awareness.