Actor best known for playing Detective Ron Harris on the sitcom Barney Miller and Shepherd Derrial Book on the sci-fi series Firefly and in the 2005 sequel film Serenity.
He was encouraged by his teacher to audition for a play because the teacher liked his voice which led to his interest in acting.
He appeared in two episodes of the NBC series Friends in 1999, playing the character Russell.
His parents were named Lethia and Crump.
He co-starred with Hal Linden in the series Barney Miller.