Grier served as a bodyguard for his friend, United States senator and presidential candidate Robert F. Kennedy. He was guarding Ethel Kennedy, the Senator's wife, who was then expecting a child, the night that Kennedy was assassinated in Los Angeles in 1968. Grier and Olympic decathlon gold medalist Rafer Johnson heard shots fired ahead of them. As Grier caught up he saw men wrestling with gunman Sirhan Sirhan. Grier jumped into the fray. Grier states, "So I see George Plimpton has the gun pointed at his face, and I'm concerned that it is going to go off, so I put my hand under the trigger housing and I pulled back the hammer so it couldn't strike. I wrench the gun from Sirhan. I find the pin and I ripped it out and held it. Now I have the gun in my hand, so I shove it in my pocket." Grier later said, "I grabbed the man's legs and dragged him onto a table. There was a guy angrily twisting the killer's legs and other angry faces coming towards him, as though they were going to tear him to pieces. I fought them off. I would not allow more violence."
In December 1968, he accompanied Bob Hope on "Operation Holly," Hope's 1968 USO tour, Grier performed alongside headliner Ann-Margret and others at the U.S. bases at Long Bình, Cam Ranh Bay, Da Nang, Chu Lai, and Phù Cát, as well as aboard the carrier USS Hancock and the battleship USS New Jersey, and at Korat Royal Thai Air Force Base and U-Tapao Royal Thai Navy Airfield in Thailand, along with stops in South Korea and Guam.