Jazz bass guitarist. He played with many world-famous musicians and received a Grammy Award for his work on the album Miles & Quincy Live at Montreux.
He studied music at Temple University during the 1960s and early 1970s. He later taught at New York University.
He published a bass playing manual entitled Modern Walking Bass Technique.
He was born in Philadelphia, Pennsylvania, where he grew up playing both guitar and bass.
In the 1980s, he played the sitar in several live performances with renowned musician Ravi Shankar.