According to a kin of the victims, Gandhi, who spent around 40 minutes with the family members, said he is "ashamed" that such incidents are taking place in India.
Rahul, who was accompanied by Congress leaders Kumari Selja and Gurudas Kamat, also had tea with the family members of the victims in this remote village near Una town of Gir-Somnath district, where the incident took place on July 11.
"We narrated to him (Rahul) what happened with my cousins and uncle. He listened to us patiently and assured us all help so that we can get justice," Jitu Sarvaiya, a cousin of the victims, told reporters after Gandhi left.
The Congress Vice President met Balubhai Sarvaiya and his family members, after landing at the nearby Union Territory of Diu. Seven of family members of Balubhai including him were beaten up in the incident.
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"He (Rahul) also asked questions about issues and discrimination being faced by us in our village. We told them that still the practice of untouchability is prevalent here as we are made to stand away from others," Jitu, who is studying engineering at a college in Bhavnagar district, said.
"We also told him that after the brutal beating for
skinning of dead cows. Our family has decided to leave this business of leather....We will work as labourers but never get involved in this traditional business of ours," Jitu said.
"We also sought financial help describing the poor conditions of our family for education of our children so that in future they can have a standing of their own," he said.
Gujarat Congress MLA Shailesh Parmar later said that Rahul will give Rs 5 lakh as aid to family of the victims.
The Dalit protests over the incident have spread to several parts of the state unleashing violence, in which a head constable was killed during stone-pelting in Amreli. Besides, State Transport buses were attacked and more than 17 members of the community have allegedly attempted suicide so far.
The protest follows the brutal assault on fellow community members on July 11 for allegedly skinning a cow in Una town of Gir-Somnath district.