Later in his career, Orbach played supporting roles in films such as "Prince of the City" (1981), "Dirty Dancing" (1987), "Crimes and Misdemeanors" (1989), and Disney's "Beauty and the Beast" (1991). He also made frequent guest appearances on television, including a recurring role on "Murder, She Wrote" as private detective Harry McGraw between 1985 and 1991, and was the voice of Zachary Foxx in "The Adventures of the Galaxy Rangers" in 1986. However, he gained worldwide fame for his starring role as NYPD Detective Lennie Briscoe on the original "Law & Order" series from 1992 to 2004.