Lauria, an Italian-American, was born in Brooklyn, New York, the son of Carmela (née Luongo) and Joseph J. Lauria. He also lived in Lindenhurst, New York. He graduated from Lindenhurst Senior High School in 1965 as a varsity football player, and he briefly taught physical education at Lindenhurst High School. A Vietnam War veteran, Lauria served as an officer in the United States Marine Corps; he served at the same point in his life that Jack Arnold, his character in The Wonder Years, did during the Korean War. He got his start in acting while attending Southern Connecticut State University in New Haven, Connecticut, on a football scholarship.