'Love you beyond description': Bindi shares touching post for Steve Irwin's birthday

The family of Steve Irwin, the wildlife expert who died in 2006, shared heartfelt tributes to him on what would have been his 58th birthday.

His daughter, Bindi Irwin, addressed her Instagram post to her dad, sharing how she was spending the day in his honor: She went on a hike with her brother, Robert, to their dad's favorite mountains and watched one of his documentaries with her fiance, Chandler Powell.

"Dad, Today is your birthday," she wrote. "I had an extra strong cup of tea just how you liked it. I hugged Mum for you and told her how much we love her. Robert and I went on a hike through the mountains you cherished. I watched one of your documentaries with Chandler and shared stories about you. I walked through your office in the zoo and smiled at our old family photographs."

The zookeeper and television personality died after a stringray struck him in the heart in 2006. 

"Today and every day I miss you and love you beyond description," Bindi finished the caption. "You’re always with me."

Bindi's mother, Terri, shared a series of photos of Steve with his family on Twitter to honor her late husband.

"Today would’ve been Steve’s 58th birthday," she wrote in the Tweet. "While my heart aches missing him every day, I’m determined to celebrate what he loved the most. He was happiest spending time @AustraliaZoo w/ @BindiIrwin & @RobertIrwin. He was my best friend, best dad, & built the best Zoo. I love you."

And Robert Irwin also shared a photo on Instagram with the caption: "Family always."