Worked as a freelance journalist and in public relations for the company 3M before turning to acting
While doing a story on the Brave New Workshop Theatre for the Associated Press, wound up auditioning for a part; he joined the company and remained with them for two years
Early theater work includes a 1976 San Francisco production of Athol Fugard's Sizwe Bansi Is Dead, which also starred Danny Glover
In 1979, made his TV-film debut in Undercover with the KKK, and his feature debut in the Clint Eastwood film Escape from Alcatraz
Met his future wife, Vonetta McGee, in 1984 when she was cast as the wife of his Cagney & Lacey character; they were married from 1986 until McGee's death in 2010