Is it okay to let the kids know that their parent is dying of cancer?

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My father died when i was 13. i didn't know he was dying..it never occured to me that he was. all i know was that he's sick or something that needed rest. I never saw him in physical pain, maybe he hid it or we kids were just busy. no one told me he's dying..and until now i haven't asked the elders why. The only regret that i have is that i was not able to show him the best of my love in the last 6 months of his life.