Quincy and his third wife, The Mod Squad actress Peggy Lipton, were married in 1974. That same year, they welcomed their daughter Kidada, an actress, model, and fashion designer who has worked with Tommy Hilfiger and Disney. She also published a book for young girls, School of Awake, in 2017. Kidada was dating and living with rapper Tupac Shakur at the time of his murder in 1996.