Kennedy graduated from St. Mary's High School in Phoenix, Arizona, and Arizona State University. He refereed in the Continental Basketball Association (CBA), refereeing the 1995 and 1996 CBA Finals. He began as an NBA referee during the 1995-96 NBA season. He has refereed five NBA Finals games, as well as the 2010 FIBA World Championships and the 2012 Summer Olympics.
Kennedy ejected Boston Celtics' coach Doc Rivers from a game on March 17, 2009. Rivers was fined $25,000 for remarks he made about Kennedy after the game, and Kennedy was fined an undisclosed amount for his handling of the situation. Rivers reportedly used a gay slur towards Kennedy during the 2009 NBA Playoffs.
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