Urich is best known for playing private investigators on the television series "" (1985–1988) and "Vega$" (1978–1981). He also acted in many other television series over the years including: "S.W.A.T." (1975), "Soap" (1977) and The Lazarus Man (1996). He was also known for staring in the movie A long Way Home which was released in 2003.