They had two daughters , Darlene ( 1947-1995 ) and Dawn ( 1953 - ) . In the 1960s , he also started romantically seeing Nichelle Nichols and Majel Barrett ( 1932-2008 ) . They had two daughters , Darlene and Dawn , but during the 1960s , he had affairs with Nichelle Nichols ( said by Nichols to be the reason he wanted her on the show ) and Majel Barrett .