Gregory Sierra, 'Sanford and Son' and 'Barney Miller' actor, dies at 83 - CNN

Tabor said he decided to retire because, while he still loved acting, he had difficulty remembering his lines.

Tabor said he was "the first person to help anybody that needed help and he cared about people very much."

Sierra is also survived by two stepdaughters and a step-granddaughter, all of whom, Tabor said, "loved him and called him 'Dad.'"