Epstein was drafted by the Jacksonville Jaguars in the 2002 NFL Draft and played in six games with the Jaguars in the 2002 NFL season before being picked up off waivers by the Minnesota Vikings on October 23, 2002, where he was a kickoff specialist for the remainder of the season. Epstein tore his anterior cruciate ligament with one week remaining in the 2002 season and had offseason surgery. Despite being reactivated during the 2003 preseason, he was released before the 2003 season. 43-year-old Gary Anderson performed the PATs and field goals for the 2002 Vikings. Anderson, had been brought out of retirement during the season to contribute to the Vikings' special teams efforts as Doug Brien faltered. Epstein replaced Brien. As a Jaguar, Epstein made 5 out of 9 field goals (with a long of 34 yards) and 13 PATs. He was 0–4 on field goals of 39 yards or longer. Of his 72 career kickoffs, 10 of them were touchbacks and his average distance was 61.7 yards. After Epstein was released, the Jaguars continued to have troubles as his successor Tim Seder was cut five games later. 8 of Epstein's 28 career points came in a 28–25 October 6, 2002 Jacksonville victory over Philadelphia. He was 2-for-2 on both field goals and PATs.