His father, Jose, was an African-American Methodist Episcopal (AME) minister, and his mother, Lathrope Tull, taught piano.
As a bassist, Grinage accompanied many of the jazz greats of the era such as vocalist Carmen McRae and legendary pianist Bill Evans, among others.
In the 50s, he was a member of the musicians who accompanied the Alvin Ailey Company, and joined them in several international visits, on behalf of the US State Department.
Returning to the United States in 1969, Raphael joined with Hamilton Camp and two other musicians to form the group, The True Brethren.
[4][5] Grinage played at many Bay Area venues, including the musical based on the famous song "Stompin' at the Savoy", which ran in San Francisco for several months.