Veteran actor typically cast in law enforcement roles, best known as Detective Joe Fontana on Law and Order.
Before becoming an actor, he worked in the Chicago Police Department's burglary division for eighteen years.
He was on the other side of law in real life after being arrested for carrying a .22-caliber handgun through security at LAX airport.
He married Patricia Farina in 1970; the couple had three sons.
He co-starred with Clare Danes in a Hollywood remake of The Mod Squad in 1999.