(CNN) -- Winston Lawson, the Secret Service agent who planned President John F. Kennedy's motorcade route in Dallas and rode in a car immediately in front when Kennedy was assassinated, died November 7 in Norfolk, Virginia, his son, Jeff Lawson, told CNN.

Winston Lawson spent 22 years in the Secret Service. He served under seven presidents, from Dwight D. Eisenhower to Ronald Reagan, according to his obituary on legacy.com.

Jeff Lawson said his father was haunted for years by the events of November 22, 1963.

"My father felt very extremely guilty because he had planned the route of the Dallas trip," Jeff Lawson said. He would usually visit Arlington Cemetery on the anniversary of Kennedy's death to pay his respects, Jeff Lawson said.

Winston Lawson talked about his emotional struggles in a 2013 interview with CNN affiliate WTVR, on the 50th anniversary of the assassination.

"I'm the only agent in the history of the Secret Service as advance that had the President of the United States killed," Lawson said. "At times I wish I had never been born."

After the assassination, many agents told Winston Lawson they were glad he'd handled the advance planning because they knew he was meticulous and every detail of the trip would have been well organized, Jeff Lawson said.

Jeff Lawson said his father was instructed to find a route that would travel through downtown Dallas and accommodate large crowds of spectators. Winston Lawson told the Warren Commission, which investigated the assassination, the route also offered wide streets that would allow buses in the motorcade.