Kate Steinle’s family today announced that they will sue local and federal officials in the wake of their daughter’s death at the hands of an illegal immigrant.

Kate's father, Jim, and her brother, Brad, joined Bill O'Reilly on "The Factor" to explain their lawsuit against the San Francisco sheriff, Immigration and Customs Enforcement, and the Bureau of Land Management.

Jim explained that they're not a litigious family, but they determined that a lawsuit was the only way to hold the people responsible for Kate's death accountable.

"No amount of money is going to bring Kate back," Brad said. "The point of the lawsuit is to bring to light that nobody is being held accountable for Kate's murder."

Brad explained that the Bureau of Land Management failed to secure the handgun that killed Kate, ICE should have removed the suspect from the country and San Francisco Sheriff Ross Mirkarimi wrote a memo telling his deputies to violate federal immigration law.

"We're doing this ... for Kate, to get justice for Kate," Jim said. "We don't want another parent to have to go through this ... This is unimaginable, it's indescribable, it's brutally sad."

Watch the emotional "Factor" interview above.

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