Murphy was born on July 7, 1925, in Boston, Massachusetts. He joined the United States Army October 1, 1942, serving in World War II with the 82nd Airborne in Italy, the Netherlands, North Africa, and France. Murphy was a proud member of the Ancient and Honorable Artillery Company of Boston, Ma. He is the author of the book "No Better Place to Die" depicting D-Day, June 6, 1944 in Saint-Mere-Eglise, Normandy, France, where Bob had returned to in the 60's to continue skydiving with his veteran friends as well as the airborne divisions of France and Canada. As a private in the 82nd Airborne Division, Bob was a pathfinder and was the first to jump into France on D-Day. His actions were portrayed in the film "The Longest Day." At the time of his funeral, over 2,000 people in St. Mere Eglise, France attended a memorial service for him.