Played widowed housekeeper, Tony Micelli on the television show, Who's the Boss? and gained fame for his role in the series, Taxi.
He won a People's Choice Award in 1998 for his role in The Tony Danza Show.
Judd Hirsch worked with him on the television series, Taxi.
He received a wrestling scholarship from the University of Dubuque and graduated with a bachelors in History.
He married Tracy Robinson in 1986 and the couple had two daughters.