Harold Gould, who starred on 'Rhoda' and 'The Golden Girls,' passed away Saturday in Woodland Hills, Calif., after a battle with prostate cancer, his spokeswoman, Jaime Larkin, told the NY Times. He was 86.

Gould is survived by his wife, the former Lea Shampanier, who he married in 1950; a daughter, Deborah; two sons, Joshua and Lowell; and five grandchildren.

Gould was an American actor best known for playing Martin Morgenstern on 'The Mary Tyler Moore Show' and its spin-off, 'Rhoda.' He also appeared as Miles Webber on 'The Golden Girls.'

During Gould's nearly 50 year career, he appeared in more than 300 television shows, 20 major motion pictures, including 'The Sting,' and over 100 stage plays. He received five Emmy nominations for his work.

He was also featured on 'Dennis the Menace,' 'Mister Ed,' 'The Twilight Zone' and 'Hogan's Heroes.'

Gould was born in Schenectady, New York, to Louis and Lillian Goldstein. He enlisted in the Army during World War II and saw combat in France as a mortar gunner. When he returned, he graduated from New York State College for Teachers (now the State University at Albany).

After spending the summer performing at a theater on Cape Cod, he enrolled at Cornell University to study drama and speech and earned a Master of Arts degree in 1948 and a PhD in theater in 1953.

While at Cornell, he met his future wife, Lea.