Blair Underwood has been cast as a series regular in ABC’s untitled legal drama pilot from writer Meaghan Oppenheimer and exec producers Reese Witherspoon and Bruna Papandrea, Variety has learned.

Underwood is a familiar face to ABC, as he’s been on Marvel drama “Agents of SHIELD.” Before closing on this project, which will keep him at the network, the actor had been courting many offers throughout pilot season.

The soapy drama pilot follows a ruthless Dallas divorce attorney, Gemma (yet to be cast), as her life begins to unravel when her emotionally damaged, love-addicted sister resurfaces, triggering self-destructive tendencies and exposing long-hidden family secrets.

Underwood joins cast members Penelope Ann Miller and T.R. Knight in the pilot, in which he will play James, Gemma’s boss and sometimes lover. He was Gemma’s law professor and mentor for years, instilling in her a sense of cutthroat ambition. He’s the one person unafraid to belittle Gemma.

The project hails from Witherspoon and Papandrea’s Pacific Standard shingle, which is behind the drama along with ABC Studios. Oppenheimer will serve as a co-exec producer on the pilot, which she penned.

Before his recurring “SHIELD” gig, Underwood has also had prominent roles on “Dirty Sexy Money,” “In Treatment” and “The New Adventures of Old Christine.” He will also be featured in an upcoming episode of CBS’ “The Good Wife.” He is repped by ICM Partners and Thruline.