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Born in London, England, Joseph trained at the London Academy of Music and Dramatic Art (LAMDA). In recent years he has had a high number of prominent roles in continuing British television programmes: as Reuben in William and Mary alongside Martin Clunes; Mark Grace in Casualty; the Marquis de Carabas in Neverwhere; Alan Johnson in Peep Show; Lyndon Jones in Green Wing and Shorty in the first episode of Jericho.

He also appeared in the acclaimed drama Sex Traffic, in the TV version of Kwame Kwei-Armah`s acclaimed play Elmina`s Kitchen and in the Doctor Who episodes "Bad Wolf" and "The Parting of the Ways" as Rodrick. He has also appeared in various supporting roles in Dead Ringers. In 2006 he appeared in the television sketch show That Mitchell and Webb Look where he played Simon, a contestant on the game show Numberwang. He appeared as Keaty in the Hollywood film The Beach alongside Leonardo DiCaprio and starred as Giroux alongside Charlize Theron and Peter Clarke in Paramount Pictures` Ĉon Flux (2005).

In 2004 he undertook a project, filmed for Channel 4 in a documentary entitled My Shakespeare, to direct a version of Romeo & Juliet, using 20 young non-actors from the deprived Harlesden area of London.

In 2006 he became the joint patron, with comedian Kathy Burke, of www.offwestend.com, a new listings site for theatre outside the mainstream. His recent stage appearances include the leads in The Royal Hunt of the Sun and The Emperor Jones at the Olivier Theatre, London.

Joseph played Space Marshall Clarke in two series of the BBC sci-fi sitcom Hyperdrive , and was Benjamin Maddox in the BBC serial-drama Jekyll. He also provided the voice of K.O. Joe in Chop Socky Chooks. In 2008 he played Greg Preston in Survivors, the BBC remake of the 70s sci-fi drama of the same name.