The model had Lucinda by his side when he died at his Notting Hill home on Wednesday at the age of 59.
Lucinda revealed, “It was beautiful and incredibly sweet. “
She added to MailOnline: “Nick was an amazing person, and it was really inspiring to be around him during his illness.
“There has been a lot of joy and hardship over the past three years and he couldn’t have lived with more respect and dignity. “
The model is best known for his 1985 Levi’s TV commercial when he stripped down to his white boxers in a laundromat.
He was also known as Madonna’s protege.
Lucinda said the model was diagnosed with cancer three years ago, with doctors telling her it was incurable.
He was treated at Hammersmith Hospital and Lucinda explained how much he “loved doctors”.
“He appreciated everything the NHS has done for him and us too,” she added.
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“He had known for three years that he was going to die, but he never felt sorry for himself and lived his life with incredible charm and courage. “
Nick had undergone stem cell therapy and other extended care measures before sadly succumbing to his cancer.
Madonna, the star’s close friend who was born in Essex, took to Instagram to pay tribute to her shortly after the sad news broke.
She wrote: “It’s heartbreaking to know that you are gone. You have always been such a kind human and you have suffered too much.
“I hope you are happier wherever you are Nick Kamen. “