McAuliffe was consecrated and installed by Cardinal Luigi Raimondi on August 18, 1969, at the Cathedral of Saint Joseph in Jefferson City.
In January 1980, McAuliffe appeared before the Missouri General Assembly to support the passage of the Equal Rights Amendment to the US Constitution.
[3] In June 1982, Holy Family Parish in New Haven, Missouri, won a court battle with McAuliffe about the relocation of an ornate marble altar within the church sanctuary.
[4] On June 25, 1997, Pope John Paul II accepted McAuliffe's resignation as bishop of the Diocese of Jefferson City.
[1] In February 2003, McAuliffe and the diocese were sued by a North Carolina man who claimed to have been sexually molested by two diocesan priests when he was a child.