"Krissy was and is an angel. I am completely numb at this time," the singer, 46, said in a statement released by his lawyer Monday. "My family must find a way to live with her in spirit and honor her memory. Our loss is unimaginable."
He adds, "We thank everyone for the prayers for Krissy and our family as we mourn my baby girl."
Bobbi Kristina, 22, died Sunday in an Atlanta-area hospice. The news came nearly six months after she was found unresponsive in a bathtub in her Roswell, Georgia, home on Jan. 31. She never fully regained consciousness and was being kept on life support following her near-drowning. In March she was moved to a long-term care facility in the Atlanta area, and in June she was transferred to hospice care.
"Yesterday Bobbi Kristina Brown took her place in heaven," Christopher Brown of Brown & Rosen LLC, legal counsel for Bobby Brown, said in a statement. "Krissy fought to get well for months, however she has [succumbed] to her injuries."
Following his daughter's death, Brown contacted loved ones to share the news himself.
"He is holding it together more than you'd expect," the source tells PEOPLE. "He knew it was coming. Of course he's very emotional, but at the same time, he knows that Krissy is in a better place now.
"He is taking comfort in the fact that she's with her mother and that there will be no more sadness or pain. She is at peace. He knows that and is taking comfort in that."
The Houston family confirmed the loss Sunday in a statement to PEOPLE.
"Bobbi Kristina Brown passed away July 26, 2015, surrounded by her family," the statement reads. "She is finally at peace in the arms of God. We want to again thank everyone for their tremendous amount of love and support during these last few months."