Joseph served time for his role in the murder of Sam Napier in April 1971. Napier was circulation manager of 'The Black Panther', and was murdered as part of a series of retaliatory assassinations caused by a factional dispute within the Panthers. Joseph was also involved in robberies committed by the BLA. Joseph was sentenced to 12½ years in prison for the Brink's robbery (1981), that killed two police officers and an armored car driver. One of the victims was Waverly Brown, the first African-American to serve on the Nyack, New York, police force.
Joseph was nominated for a 2008 Academy Award in the Best Song category for his contributions to the song "Raise It Up", performed by IMPACT Repertory Theatre and Jamia Nash in the 2007 film August Rush.