The two will join previously announced stars Anthony Anderson and Hugh Dancy for season 21 of the NBC crime procedural.
The celebrated comic actor spoke with ET at the 4th Annual Celebration of Black Cinema & Television event in Los Angeles on Monday.
The 'Black-ish' star is the first alum returning alongside franchise newcomers Hugh Dancy and Jeffrey Donovan.
'Law & Order' returns in February after the Winter Olympics to anchor 'L&O' Thursdays.
The 'Burn Notice' star will play a new character in the 'L&O' universe.
The creator of the 'Law & Order,' 'Chicago' and 'FBI' franchises opens up to ET about making must-see TV.
The beloved crime series has been revived and will return for its 21st season on NBC a decade after its cancellation.
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