Haines served as Commanding General of the 1st Armored Division at Fort Hood, Texas, from 1962 to 1963. He served as Deputy Assistant Chief of Staff for Force Development in Washington from 1963 to 1965. From 1965 to 1967, he commanded the III Corps. He was successively Acting Vice Chief of Staff and then Vice Chief of Staff for the U.S. Army and during this period he commanded the army forces assisting the suppression of the 1968 Washington, D.C. riots. He then served as Commanding General, Continental Army Command, at Fort Monroe, Virginia until his retirement on January 31, 1973.