Robert S. Friedman, founder of Rainbow Ridge Books and longtime publisher of works on spirituality and metaphysics, died January 9 at his home in Virginia. He was 76.

A longtime publishing entrepreneur, Friedman launched his first house, The Donning Company, a publisher of commemorative titles, illustrated science-fiction and fantasy, and graphic novels, in 1974. In 1989 he cofounded Hampton Roads Publishing Company, which specialized in self-help and non-traditional books on spirituality. Among the bestselling authors he published at Hampton Roads were Mary Summer, Lynn Grabhorn, Barbel Mohr, and Neale Donald Walsch.

Friedman retired from Hampton Roads in 2009 before returning to publishing to launch Rainbow Ridge Books, another New Age-focused publishing house, in 2010. As a writer, Friedman was the co-author along with Eckhart Tolle of Milton’s Secret, a children’s book published in 2008.

Jonathan Friedman, his eldest son, will take over as publisher of Rainbow Ridge Books. A memorial service is planned to be held in February or March of this year.