Rescorla taught at Yale University from 1966 to 1981.[7] While at Yale, Rescorla began a fruitful collaboration with colleague Allan Wagner, which led to the development of the Rescorla–Wagner model.[7] In 1975, he was elected into the Society of Experimental Psychologists.[7] Rescorla returned to his alma mater in 1981 and was a member of Faculty there until 2009.