NEW YORK – Judith Jamison, an internationally renowned dancer who later served as artistic director of the Alvin Ailey American Dance Theater for two decades, has died. She was 81 years old.

Jamison died Saturday after a brief illness in New York, surrounded by close friends, Ailey company spokesman Christopher Zunner confirmed to the Associated Press.

“We remember and are grateful for his artistry, his humanity and his incredible light, which inspired us all,” Zunner said.

Jamison grew up in Philadelphia and trained in ballet there from an early age. At a time when black dancers were rare in ballet, she began with the Alvin Ailey American Dance Theater in 1965.

Tall, graceful and expressive, she became one of the company’s most famous performers and a muse for Ailey. Jamison had a starring role in two of Ailey’s signature dances, “Revelations” and “Cry.” She danced with the Ailey company for 15 years before moving on to perform on Broadway and as a guest artist with other ballet companies.

Jamison then returned to the Ailey company as artistic director for 20 years. He is widely credited with helping to make it one of the most successful dance companies in the United States.

As a dancer, choreographer, director and speaker, her distinguished career has crossed barriers of race and gender.

“She was a unique and spectacular dancer, majestic and regal. She danced with eloquence and integrity,” Sylvia Waters, artistic director emeritus of Ailey II, said Saturday after the news of Jamison’s death.

“Dancing with her and being in her sphere of energy was fascinating,” Waters said. “I had the chance to play with her and she set the bar very, very high.”

Jamison’s leadership of the Ailey Theater “supported the company and helped it grow.” She was an eloquent speaker, a strong leader and ran a tight ship,” Waters said.

Jamison’s striking images, including photos, videos and a sculpture, are currently on display in an exhibition of Ailey’s work at the Whitney Museum of American Art in New York.

Jamison received the Kennedy Center Honors in 1999. Other honors include the National Medal of Arts and the Handel Medallion, New York City’s highest cultural honor.

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AP reporter Amy Taxin in Santa Ana, California, contributed to this story.