The talk-show host and wife Tracy have been married for 20 years

Tony Danza and his wife, Tracy, have separated after 20 years of marriage, Danza’s rep, Jill Fritzo, confirms to PEOPLE.

Danza, 55, and Tracy, 47, wed in June 1986. They have two daughters: Katherine, 19, a college student, and Emily, 12. Danza also has a son, Marc, 35, an entrepreneur, from his early-’70s marriage to Rhonda Yeoman.

Danza, who gained fame as an actor on the sitcoms Taxi and Who’s the Boss, most recently hosted The Tony Danza Show, which aired for two seasons before being canceled in May.

The show was filmed in Manhattan, so Danza commuted between New York City and Los Angeles, where his family lives. “It’s hard on all of us, but they’re rooting for me,” he told PEOPLE in 2004. “I finish Friday, get on a plane and come back Sunday.”

He and Tracy became grandparents for the first time in August 2005 when Marc and his wife Julie welcomed son Nicholas. “There’s a certain feeling of accomplishment that there’s another generation,” Danza told PEOPLE. “But the most exciting thing is watching your son be a dad.”