Watch: Roseanne Barr Is As Uncensored As Ever on 'The Millers'

Roseanne Barr returns to TV and is as outspoken as ever in this clip from tonight's The Millers.

Roseanne Barr returns to TV tonight with her highly anticipated guest starring role in The Millers, in which she'll play Andy Richter's outspoken mother Darla!

Thursday night's brand-new episode sees Nathan (Will Arnett) befriending his hopeless co-worker Doug (Andy Richter), who turns out to be way more than he can handle -- the two somehow end up in jail along with Nathan's pal Ray (J.B. Smoove)!

Video: ET Now -- Roseanne Barr Returns to TV

Barr gets to show off her trademark brashness in her guest role, delivering some deliciously harsh lines to her son while busting him out of jail.

"I thought your father was the king of all losers but you've just taken his crown, she says." "I wish your twin brother had been born instead of you -- but you ate him like you eat everything else!"

Check out the clip to see Roseanne get back to her television roots!

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The Millers airs tonight at 8:30 p.m. on CBS.