As Joe Renato trains FBI agents to go undercover, he has to mourn the loss of one of his own and the dangerous reality of the job begins to set in.
To investigate a corrupt federal judge, Lily goes undercoover as a bartender; Darnell infiltrates a drug using gang of bank robbers by posing as a carjacker.
When Joe runs into a fugitive that he used to work with he has to slip into one of his old undercover roles.
To catch a murderous pimp, Heather must go undercover as a prostitute; Darnell and Lily distract a bar owner so the FBI can plant a bug in his car.
When one of his Undercover agents is murdered, Joe begins to suspect the police are involved.
Joe poses as an assassin in order to gain the trust of a man that wants to take a hit out on a colleague.
Joe investigates another handler who is linked to the death of a politician.
Joe and his team must pose as pornographers to get close to a bar owner that is a suspect in the death of his pregnant wife.
Elena poses as a drug addict at a rehabilitation center; the team tries to recover millions of dollars stolen during a DEA mission gone bad.
When two agents disappear during a mission, Joe enlists the help of a former handler.
Lily goes undercover as an Irish nanny in order to find out what happened to the previous nanny who has gone missing.
The agents go under cover to investigate the murder of a college intern romantically linked to a U.S. Congressman.
Joe sends his agents under cover in order to bust a trainer that is supseced of killing horses.