Lembeck was born in Brooklyn, New York, the son of Caroline Dubs and Harvey Lembeck, an actor and comedian. He began acting in the late-1960s and directing in the 1970s. His most notable acting role was as Julie Cooper's husband, Max Horvath, on the sitcom, One Day at a Time.

He played news caster Clete Meizenheimer on the series, Mary Hartman, Mary Hartman. He also played "Kaptain Kool" of Kaptain Kool and the Kongs on The Krofft Supershow from 1976 to 1978. He is also known for his role as Vinnie Fazio in The Boys in Company C in 1978. He was a member of the cast of the 1985-1986 situation comedy Foley Square.

Lembeck has had collaborations with the late actor Peter Boyle in both The Santa Clause 2 and The Santa Clause 3: The Escape Clause and also The Dream Team. Lembeck also directed Boyle in a number of episodes in Everybody Loves Raymond.

Lembeck's first film appearance came in the 1968 film Hang 'Em High where he portrays a store clerk with two spoken lines. He made his feature film acting debut with The In-Laws. He directed The Santa Clause 2 and The Santa Clause 3: The Escape Clause, as well as the Nia Vardalos movie Connie and Carla.

Lembeck works now as a full-time film and TV director. He won an Emmy for his work as a director on the Friends episode "The One After the Superbowl", and directed 20 other episodes of the series. He is married to actress Lorna Patterson.

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