Les Mills, the New Zealand Olympian and former Auckland mayor whose name is synonymous with his global fitness chain, has died aged 91.

In a statement released on Monday, Phillip Mills said his father had achieved a huge amount in his life and the common thread throughout was his desire to help others.

“Dad was immensely strong, driven and always cared deeply for the less advantaged,” Phillip said.

“He left a lasting impression on everyone he met, and his spirit lives on in gym workouts around the world, continuing to help people fall in love with fitness.”

Phillip later told the New Zealand Herald his father had died peacefully at 3.30am on Monday, surrounded by family.

Mills was born in Auckland in 1934 and turned to fitness after losing his father aged 11. His athleticism propelled him towards the Olympics, where he competed four times in discus and shot put. He won gold, silver and bronze medals at the Commonwealth Games.

The New Zealand Olympic committee said Mills was one of the most respected figures in athletics.

“Les Mills set a standard for what it takes to represent New Zealand at the Olympic and Commonwealth games,” said Nicki Nicol, the committee’s chief executive.

“His place in New Zealand’s Olympic history is firmly established and no doubt his legacy will continue to inspire.”

In 1968 Mills and his wife, Colleen, opened the first Les Mills gym in Auckland, which eventually grew into a global chain of gyms. His family went on to build Les Mills International and ushered in group workout programmes – including BodyPump, BodyAttack and BodyCombat – now taught in more than 22,000 fitness clubs and gyms in more than 100 countries.

Les Mills at his gym in Auckland in 1987. Photograph: Paul Anderson/Stuff/AP

During this time, Mills also turned his attention to politics and in 1990 was elected mayor of Auckland. He served three consecutive terms.

As mayor, he “really cared about all the communities in Auckland”, Phillip told the NZ Herald. “He worked very hard with them to make life better for everybody.”

After politics, Mills continued to coach and mentor athletes and support charities. He was made a Member of the Order of the British Empire for services to sport in 1973, and a Companion of the New Zealand Order of Merit in 2002. In 2022 Mills, his son Phillip and daughter-in-law Jackie were inducted into the New Zealand business hall of fame.