He starred on television and in film; his well-known TV roles are on the hit NBC series Little House on the Prairie as Andrew "Andy" Garvey from 1977–81, and on the CBS hit series JAG as Lt. Cmdr. Bud Roberts from 1995 to 2005, a role he reprised in three episodes of JAG's spin-off, NCIS. Other TV shows on which he has made guest appearances include Starsky & Hutch, 21 Jump Street, Living Single, Yes, Dear, Lois & Clark: The New Adventures of Superman, The Love Boat, Ghost Whisperer, and iCarly.