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Five years after their son was killed in a shooting that sparked controversy around the country, the parents of Trayvon Martin have written a book in memory of their son and his life.

The book, titled "Rest in Power," was released Tuesday and chronicles the lives of Tracy Martin and Sybrina Fulton before and after the death of their son, and the eventual impact of his passing.

At the time, Trayvon's death and the acquittal of shooter George Zimmerman sparked protests and debate across the country about racial profiling and justice. The case would help to fuel the beginnings of the Black Lives Matter Movement.

Tracy Martin and Sybrina Fulton joined Radio Times host Marty Moss-Coane to talk about their experiences.

We really dont know what happened those 71 seconds, Martin said of the time before Trayvon was shot. Preceding the shooting, the sequence of events between him and Zimmerman left room for interpretation, as there is still time unaccounted for. Martin said Zimmerman was unafraid and looking for trouble.

Click through to listen to their whole conversation.

Fulton and Martin will be at the Free Library of Philadelphia Thurs. February 2, 2017, at 7:30 p.m. for a conversation with Associated Press reporter Errin Haines Whack.

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'Rest in Power': Trayvon Martin's parents talk new book, heartache on Radio Times - Newsworks.org