In November 2013, Keach appeared on the Fox comedy series "Brooklyn Nine-Nine", in the episode "Old School". In February 2015, Keach started guest appearing in "" as Cassius Pride, father of NCIS Agent Dwayne Pride. He played the elderly father Bob on the 2016 sitcom "Crowded". From 2016-2019, Keach appeared on CBS's drama, Blue Bloods as Archbishop Kevin Kearns. In 2017, Keach started guest appearing in "Man with a Plan" as Joe Burns, father of Adam Burns (played by co-star Matt LeBlanc) and was later promoted to series regular status for season three.