Rudy was born and raised in the San Fernando Valley to Rudolph and Rose Herrera. He attended and graduated from San Fernando High School, as one of the "Aurasons" Class of Winter 1968. Drama classes, school marching band, and the saxophone player of a local teen band occupied most of his time in high school. Wishing to become an actor he took private coaching and attended actor's workshops. Some of his training included; "Theatre Workshop" with veteran actress Lurene Tuttle, "Improvisation" with actor Alejandro Rey, and "Voice and Speech" with George Wilhelm. His break came playing the part of a street hoodlum in "McCloud" with Dennis Weaver in 1970.