Taylor had been friends with actor Joe Mantegna since they appeared together in 1969 in the musical "Hair". Taylor guest-starred in 2012 on "Criminal Minds eighth season in the episode "The Fallen", opposite Mantegna as Harrison Scott, Rossi's former Marine sergeant with whom he served in Vietnam. In January 2014, he reprised this role in "The Road Home" which aired January 22, 2014, just five months before his death. Mantegna led a "Criminal Minds" tenth season episode "Anonymous", to honor Taylor on January 21, 2015.