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Yep, as other say, a simple "I'm sorry for your loss" and a good memory you have of the deceased is perfect.
But also reach out to the mother or family members you are closest to after the funeral. I have seen one friend lose a child and another lose her husband, and they needed to know that they were in their friends thoughts and that people were simply there and thinking of them. I make a point of checking in with them at least once every week or two outside of group activities.