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He also had roles in “The Interns, “Spencer’s Mountain,” “Battle of the Bulge” and “Hang ‘Em High,” as well as many guest roles on TV series such as “Gunsmoke.”

He performed in many stage plays, including the lead role of Hildy Johnson in a 1981 production of “The Front Page,” which was co-written by his father in the late 1920s, at the Stanford Community Theatre in Palo Alto, Calif.

His live acting career won him the 1961 Theatre World Award for best new actor for his performance in “Invitation to a March.”

James MacArthur said that one of his favorite “Hawaii Five-O” episodes was a 1975 segment called “Retire in Sunny Hawaii Forever” because it marked one of the rare times that he worked on screen with his mother. Hayes played Danno’s Aunt Clara, who visits Hawaii and helps the detectives solve a murder.

Asked by the Hawaii Star Bulletin newspaper in 2003 about his fondest memories about working on “Hawaii Five-O,” he replied: “Living in Hawaii.”