He was one of the founders of the Judson Dance Theater, Grand Union, Contact Improvisation, Touchdown Dance for the visually disabled (UK), and began his career studying modern dance techniques, ballet, Aikido, Tai Chi Chuan, and Vipassana meditation. He performed with the Merce Cunningham Dance Co. from 1961-65. He lectures, performs, choreographs and teaches primarily in the USA and Europe.