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Vigil for 5-year-old Jaylen Sloan at the scene of an accident in Milwaukee

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According to officials, family and friends of 5-year-old Jaylen Sloan held a vigil Tuesday night where the boy was killed in a crash when his father was driving drunk.

The incident occurred on Friday around 8 p.m. in the 8100 block of West Hampton Avenue.

Jaylen and his twin brother Jaylon were driving their father's SUV westbound on Hampton when their father struck two parked cars and then a tree at a high rate of speed, according to a report from the Milwaukee County Medical Examiner's Office.

Two booster seats were found in the rear of the vehicle, but it is believed the boys were not wearing seatbelts because Jaylon was found in the front of the vehicle and Jaylen “may have been ejected” and died at a hospital Sunday, the report says . Jaylon survived the crash and was able to leave the hospital at Tuesday's vigil, which was attended by about 60 people.

Witnesses said the boys' father, a 34-year-old man, appeared to be drunk. He was arrested and the Milwaukee County District Attorney's Office has not yet filed charges.

“This is the hardest thing I’ve ever had to go through in my life,” said Teaira Harriell, Jaylen’s mother. “He was very happy, he was very silly, he was very playful, he was very smart, he was just great. I am at a loss for words.”

Jaylen's grandmother, Cassandra Harriell, said not only was it a tragedy for her family, but she also said children far too often suffer the consequences of adults' actions.

“It's just sad that we're here again. How many more times? How many children left? “How many bad decisions?” she said.

“My grandson should be here. There is no excuse for this, he should be here,” she added. “When you're drunk… you endanger not only your life, but also the lives of other people.”

Cassandra Harriell recalled happier memories of Jaylen Sloan.

“He had the biggest smile,” she said. “Loved his brother. They were simply inseparable. And it’s such a loss of what he could have been in life.”

“I will continue to fight for him until I take my last breath so that justice is served.”

According to police, 57 people have died in accidents in Milwaukee this year as of Monday. Last year 76 people died.

Pastor Marquis Young of Greater Bethlehem Temple World Ministries said fatal accidents are an example of some of the tragedies the Milwaukee community is experiencing.

“We have to be the ones out here to make a change to prevent this,” Young said. “Reckless driving, drunk driving, all kinds of reckless shootings, all kinds of things that cause harm to our community. So we have to make a decision…we have to change something.”

Jaylen's family started a GoFundMe fundraiser to cover funeral costs.