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On Tuesday, Njau's family confirmed that he had succumbed to his injuries. "We received news this morning (Tuesday) that he passed on," Anne Wanjiru, his sister, said at their Dagoretti home. "We are very heartbroken."
Ms Wanjiru said the family was distraught that his young life had been brought to a sudden end in unclear circumstances.
She said the family was seeking answers from Qatari authorities.
"We want answers on the circumstances of his death," said Ms Wanjiru, who pleaded with Foreign Affairs Cabinet Secretary Alfred Mutua and his Sports counterpart Ababu Namwamba to intervene amid plans to bring the body home.
They also pleaded with Fifa president Gianni Infantino to help. "We don't know where to start. It is very painful, they should help us," said a tearful Ms Wanjiru.
The family demanded the release of the official CCCTV footage of the incident, which they said had so far been withheld.
"They are claiming he was intoxicated. We hear he had worked for long hours. The clarity of how he fell is not coming out," said Wanjiru.
The guard was rushed to Hamad Medical Hospital where he was initially said to be in a stable but critical condition.
In a statement on Twitter on Saturday, Qatari authorities said, "On Saturday, December 10, a security guard at Lusail Stadium suffered a serious fall while on duty. Stadium medical teams immediately attended the scene and provided emergency treatment before he was transferred to Hamad Medical Hospital's intensive care unit via ambulance.
"He remains in a stable but critical condition. Our thoughts and prayers are with him and his family during this time, and we wish him a speedy recovery. The host country is investigating the circumstances as a matter of urgency.
"He will continue to receive his salary in full while receiving medical care," the statement added.
His friends and family in Nairobi described Mr Njau as a loving and jovial individual who moved to Qatar in search of greener pastures.
"He was so happy to work there... He wanted to help his mom and family; that was his dream," said a cousin, Lilian Wahu.