She’s been known for many things during her lengthy entertainment career, but she says her legs have had the biggest impact on her success. In fact, she’s written a fascinating new memoir called, “The Legs Are the Last to Go: Aging, Acting, Marrying and Other Things I Learned the Hard Way.”

Those legs helped propel her to break barriers at every step of her 50-year career. She was the first black woman to win a Tony for best actress, the first to star in a TV show NOT playing a maid and she was the model for one of the first black Barbie dolls.

She said there is is one area she did not succeed at: her personal life. She said she paid the price for not devoting enough time to her relationships, which she frankly discusses in her book and this interview. She is open, insightful and charming. And most importantly, she feels she has a much larger contribution yet to make.

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