Bierko and Kelley previously worked together on the hit show Ally McBeal.
The actor will play Jeffrey Coho, an "intense, grandiose" criminal defense lawyer representing a client (Ashton Holmes) who is accused of murdering a judge.
Kelley says, "He's so versatile. How many guys can play both (Cinderella Man's) Max Baer and The Music Man?"
Bierko was nominated for a Tony award in 2000 for his portrayal of Professor Harold Hill in the Broadway revival of the classic musical.
Sagal, who most recently had a recurring role on Lost, will play the accused client's mother in several episodes, which will be written by Kelley.
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