Radiative Dirac neutrino masses and their mixing are linked to dark matter through the non-Abelian discrete symmetry $A_5$ of the 4-dimensional pentatope, softly broken to $A_4$ of the 3-dimensional tetrahedron. This unifying understanding of neutrino family structure from dark matter is made possible through the interplay of gauge symmetry, renormalizable Lagrangian field theory, and softly broken discrete symmetries. Dark neutral fermions are produced through Higgs decay.