A mother of three children was struck and killed by a car near a restaurant in Mississippi on Saturday, July 20, authorities said.

The incident occurred on MS-43 near the Sunset Grill restaurant in Rankin County and is under investigation, the Mississippi Highway Patrol (MHP) said in a news release shared with PEOPLE on Friday, July 26.  

The pedestrian, Marcie Errington, 41, of Crystal Spring, Miss., was hit by a Chevrolet Silverado traveling northbound. She died at the scene from her injuries, the MHP added.

The driver of the Silverado, identified by authorities as Donnie Taylor, 67, of Brandon, Miss., was unhurt in the collision. 

No additional details were offered from the MHP. 

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According to a GoFundMe set up on behalf of her family, Errington was a nurse and a devoted mother to her three sons. 

“We are truly heartbroken at the loss of our sweet Marcie,” read the fundraiser description. “She was such a radiant gypsy soul who loved nature, animals and children… Her sons were the center of her universe, and her every action was a testament to the profound love she had for them.”

The GoFundMe described Errington as “thoughtful, selfless, compassionate, and genuinely caring – everything that made her such an amazing momma and nurse.”

“Marcie’s impact on our lives is immeasurable,” the description continued. “She taught us the true meaning of love, empathy, and perseverance. Her legacy of kindness will live on through the countless lives she touched, both human and animal. We are devastated by her loss,  but we celebrate the beautiful person she was and the extraordinary life she lived.”

Kelly Johnson, a friend of Errington’s, remembered her as outgoing. “When you think of a Gypsy Soul, that’s what you think of as Marcy, she loved anything that breathed,” Johnson said, NBC affiliate WLBT reported. 

Errington was employed at Pedicare Nursing Agency. The news of her death sent a shock to Errington’s colleagues, said Melissa Flanagin, the agency’s founder. 

“There was a time of denial where we didn’t want to believe that that had really happened to our Marcy,” Flanigan told CBS affiliate WJTV. “When we learned, and it was confirmed that it was her, we were just heartbroken.”

Johnson told WLBT that the GoFundMe will help Errington’s children.

“There’s a lot of bills and things that have, you know, accrued and you know, just life,” Johnson said. “It’s mainly to take care of those children to make sure they have what they need.”