Erb is best known for his various arrangements of the Folk song "Shenandoah", and among musicologists of the Renaissance for his work on the magnificats of Orlando Di Lasso. Beginning in 1953 he taught music and conducted the choirs and glee clubs at The University of Richmond, in Richmond, Virginia. He conducted the Richmond Symphony chorus during 35 years and retired in 2007. He is married to Ruth Erb who owns and operates the bookstore Book People in Richmond. Erb also conducted the group Chorus of Alumni and Friends of the University of Richmond (CAFUR), which was originally associated with the University of Richmond. CAFUR's final concert was in 1994 with the singing of Rachmaninoff's Vespers.