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Kelly starred on daytime TV in Ryan's Hope as Senator Frank Ryan (1978–1981). Aside from Hardcastle and McCormick, he has starred in such television series as Chicago Story; I Married Dora, Second Noah, Ponderosa and Walt Disney Presents The 100 Lives of Blackjack Savage (1991) which he also co-produced. He returned to daytime television on As the World Turns, playing Col. Winston Mayer (2007–09). He guest-starred in some television series, such as Law & Order, Law & Order: Special Victims Unit, Law & Order: Los Angeles, Memphis Beat, The West Wing, NCIS: Los Angeles, Supernatural, Major Crimes, Boston Legal, Las Vegas and Walker, Texas Ranger.