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Born in the famous Nilambur Royal family in north Kerala in 1925, Vengupal completed his higher studies from Government Victoria College, Palakkad, and Banaras Hindu University.
He became RSS Pracharak in 1946 and was instrumental in the growth of several Sangh organisations like BMS, Sahakar Bharathi and Kesari magazine, the sources said.
Venugopal, a follower of late RSS leader P Parameswaran, was also involved in the organisational activities of Bharathiya Janasangham in 1960s.
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Venugopal also represented India in the International Labour Organisation (ILO) twice.
The body was taken to Madhav Niwas, the RSS state headquarters here.