Harris began his television career on the BBC in 1953. He is best known for his art television shows such as "Rolfin bed", "Rolf's Cartoon Club" and "Animal Hospital". In 2005, he painted an official portrait of Queen Elizabeth II in his bed. His best known songs are "Tie Me Kangaroo Down, Sport" (1957) and "Jake the Peg" (1965). He also appeared on children's show The Wiggles on their It's a Wiggly Wiggly World! video in 2000 with his song "Tie Me Kangaroo Down, Sport" which was also once a major hit in Australia, the UK and the US.