Family life and three daughters

Away from the cameras, Bill was a devoted family man.

In 1966, he married jazz musician Jeanne Hart, with whom he had daughters, actress Kate Hardie and Bonnie.

After Bill and Jeanne divorced, he tied the knot with Laura Beaumont in 1983, and together they welcomed daughter, musician Rosie - also known as Rosie Bones (pictured).

His family remained by his side throughout his later years.