No, she lives with her mom in Los Angeles. Bobby has been married 3 times - 1st Debra Ponzek (m. 1991-1993), 2nd Kate Connelly (m. 1995-2001), his 3rd and current wife Stephanie March (m. 2005 - eternity) is an actress from Texas who regularly appears on Law and Order and who guest stars on many other different TV series. Sophie was his daughter from his 2nd marriage to Kate Connelly which ended in divorce in 2001. He is still very friendly with Sophie's mom whom Sophie spends most of her time with, but frequently stays with her Dad in NYC.
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