Lucy has one daughter, Daisy (born on July 15, 1988), from her previous marriage to ex-husband Garth Lawless. They married in 1987, and divorced in June of 1995. Lucy remarried on March 28, 1998, to Rob Tapert (born in 1955), the executive producer of Xena. Three hundred and forty guests attended her wedding reception in the Regent Beverly Wilshire Hotel, including the cast and crew of Xena, an Elvis impersonator, and a 15 piece band. Lucy and Rob were proud to welcome a new son into the family, Julius Robert Bay, on October 16, 1999, and another boy, Judah Miro, on May 7, 2002.