Surfside 6 - episode "Masquerade" (1962)
• Character played:  Eric Hirsh •
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During dress rehearsal, baddie takes place of Eric's friend, Carl.  RD is clearly riding (very smoothly) when the baddie is discovered. As a fight between the baddie and Dave takes place, the stuntman continues some tricks. However, as the baddie falls in front of Eric's horse, causing the horse to rear, it is most definitely RD who is riding, even as the horse rears multiple times. He is bareback with just a trick rider's harness (a simple strap with hand grips) to grab.  No stirrups and no handler controlling the horse.