He had his eldest son, Angus, with his first wife, Ann Clark, and two more children, Jon and Hannah, during his 11-year marriage to actress Patricia Brake.
In 1979, Bob married Maggie Henderson and they worked together many times over their 25 years of marriage; both in the West End and writing and performing many recitals.
Throughout his life, he developed his talents in photography and art, exhibiting his photographs in 1997 and, inspired by Matisse and Degas, he studied life-drawing and painting in the studio of Bobby Gill for over ten years.
More recently, Bob immersed himself in his passion for social history, taking a course in Victorian Studies at Birkbeck College and researching and writing his one-man show, The secret Lives of Arthur J. Munby, which he last performed in November 2003.
Bob died peacefully in Charing Cross Hospital on 24th of April 2004 after a brief illness. His kindness, wit and intelligence, are greatly missed by his many friends and his family.