Played widowed housekeeper, Tony Micelli on the television show, Who's the Boss? and gained fame for his role in the series, Taxi.
He received a wrestling scholarship from the University of Dubuque and graduated with a bachelors in History.
He won a People's Choice Award in 1998 for his role in The Tony Danza Show.
He had children, Marc and Gina, with his first wife Rhonda Yeoman. He later had daughters, Katherine and Emily with second wife Tracy Robinson, whom he divorced in 2013.
Judd Hirsch worked with him on the television series, Taxi.
