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The Lion King

1994
as Rafiki (voice)

Big Fish

2003
as Older Dr. Bennett

The Lion King 1½

2004
as Rafiki (voice)

Prince Jack

1984
as Martin Luther King Jr.

Passion and Memory

1986
as Self - Host and Narrator

Super Fly T.N.T.

1973
as Jordan Gaines

The Meteor Man

1993
as Ted Reed

Greyhounds

1994
as Robert Smith

Death Warrant

1990
as Hawkins

Panic in the Skies

2006
as Rob Barnes

Lean On Me

1989
as Dr. Frank Napier

13th Child

2002
as Riley

Spy Hard

1996
as Agent Steve Bishop

North and South

1985
as Frederick Douglass

Soap

1977
as Benson

Silicon Towers

2000
as Detective Green

Benson

1979
as Benson DuBois

Columbus Circle

2012
as Howard Miles

The Kid With the 200 I.Q.

1983
as Professor Mills

Wanted: Dead or Alive

1987
as Philmore Walker

They Still Call Me Bruce

1987
as V.A. Officer Johnson

You Must Remember This

1992
as Uncle Buddy

Pandora's Clock

1996
as Ambassador Lee Lancaster

Pandora's Clock

1996
as Ambassador Lee Lancaster

Purlie

1981
as Purlie Victorious Judson

Cosmic Slop

1994
as Gleason Golightly (segment "Space Traders")

His Bodyguard

1998
as Garrett

Sports Night

1998
as Isaac Jaffee

Satin

2011
as Doc Bishop

Fire and Rain

1989
as Carter

Producer

Movie The Fantastic World of D.C. Collins 1984
Movie The Kid With the 200 I.Q. 1983

Crew

Movie The Fantastic World of D.C. Collins 1984

Guest Star

Episode Saved by the Bell: The College Years
A Question of Ethics
1993
Episode A Different World
Never Can Say Goodbye
1991
Episode Promised Land
Christmas
1996
Episode A Different World
To Be Continued
1991
Episode E! True Hollywood Story
Ron O'Neal: Superfly
1970
Episode Sparks
Porky's Revenge
1996
Episode L.A. Law
Diet, Diet, My Darling
1992
Episode North and South
Summer 1842 - Summer 1844
1985
Episode Moesha
All This and Turkey, Too
2000
Episode Tony Awards
The 32nd Annual Tony Awards
1978
Episode CSI: Crime Scene Investigation
Young Man With a Horn
2008
Episode Barbara Mandrell and the Mandrell Sisters
Larry Gatlin & Robert Guillaume
1981
Episode Marcus Welby, M.D.
The Soft Phrase of Peace
1970
Episode Carol & Company
Soap Gets in Your Eyes
1990
Episode The Tonight Show starring Johnny Carson
Jay Leno (guest host), John Goodman, Robert Guillaume, Kenny Loggins
1991
Episode Diagnosis Murder
Miracle Cure
1993
Episode 8 Simple Rules
Every Picture Tells a Story
2003
Episode The Outer Limits (1995)
Monster
1998
Episode Hotel
Shadow Play
1986
Episode Jeopardy!
1992 Celebrity Jeopardy! Game 5
1992
Episode All in the Family
Chain Letter
1975
Episode Touched by an Angel
Jones vs God
1997
Episode Sanford and Son
Steinberg and Son
1975
Episode Good Times
Requiem for a Wino
1977
Episode A Different World
Really Gross Anatomy
1992
Episode The Proud Family
Behind Family Lines
2002
Episode Burke's Law (1994)
Who Killed the Fashion King?
1994
Episode The Jeffersons
George Won't Talk
1975
Episode The Fresh Prince of Bel-Air
You'd Better Shop Around
1994
Episode Century City
To Know Her
2004