He was married to Sally Gracie from 1952 until they divorced in 1958. Then he was married to Clarie Bloom from 1959 until they divorced in 1969. Thirdly he was married to Sherry Nelson from 1973 until they divorced in 1979. Then he was married to Paula Ellis from 1986 until they divorced in 1997. He was married to Joan Benedict from 2000 until his death in 2002. With Bloom he has a daughter, Anna Steiger. With Ellis he has a son, Michael Steiger.