Kyle Richards is connecting with her mom for the first time since she passed away in 2002. The 47-year-old Real Housewives of Beverly Hills star sat down for a cathartic reading with Hollywood Medium's Tyler Henry, 20, and received an important message about her family members from her late mother, Kathleen. Henry tells Richards that the "No. 1 thing" her mother needed to tell her was about her sister, Kim Richards, 51, who has struggled with sobriety in recent years. "She's not wanting you to feel like when she passed away that it was your responsibility to take care of your sister," Henry tells Richards.