(CNN) A five-year legal battle over the copyright of the hit song "Blurred Lines" has ended with Marvin Gaye's family being awarded a final judgment of nearly $5 million against Robin Thicke and Pharrell Williams.

The pair had been accused of copyright infringement for their 2013 single because of the similarities to Gaye's 1977 hit "Got to Give It Up."

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Gaye died in 1984 after being shot to death by his father, Marvin Gay Sr. (the singer added the "e" to create his stage name).

Thicke and Williams were ordered in 2015 to pay Gaye's estate more than $7 million, but that judgment was reduced to $5.3 million and the pair appealed the verdict.

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