Greenville police said Thursday night that Mirra's body was found earlier in the day with an apparently self-inflicted gunshot wound.
Authorities say they responded to an apparent suicide and discovered his body in a truck. They say he had been visiting friends in the area.
Greenville Mayor Allen Thomas called Mirra "more than a sports figure. He's a loving member of this community, and that remains."
Thomas said Friday that he had talked with Mirra for about 20 minutes outside a restaurant just hours before he died. Mirra had some exciting things he wanted to plan for children in Greenville, the mayor said.
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Thomas said while Mirra was known around the world, to many in Greenville he was "just a dad, just a friend."
Police Chief Mark Holtzman said the medical examiner on the scene said everything appeared to be consistent with a self-inflicted gunshot wound. The chief said as far as the investigation was concerned, the facts had not changed since Thursday.
Steve Astephen, a longtime family friend and Mirra's agent, released a statement on behalf of the family: "Dave's wife and family are shocked and saddened by the loss of such a remarkable person whom they loved so deeply. Thank you for your kind thoughts and prayers and for respecting their privacy through this difficult time."
Mirra, a native of Chittenango, New York, near Syracuse, was an accomplished BMX rider and one of the most decorated athletes in X Games history, medaling every year from 1995 to 2008 and winning 14 gold medals. His one-time record of 24 career medals was broken in 2013 by Bob Burnquist.
He also hosted MTV's "Real World/Road Rules Challenge" and two video games carried his name.
PHOTOS: Notable deaths
If you or a loved one are struggling with suicidal thoughts, you're encouraged to seek help through the National Suicide Prevention Lifeline by calling 1-800-273-TALK.