Heroes co-star Sendhil Ramamurthy has boarded NBC's comedic drama pilot Rex Is Not Your Lawyer as a regular character.

According to The Hollywood Reporter, Jane Curtin also has been cast in the pilot that stars David Tennant as Rex Alexander, a top Chicago litigator who begins suffering panic attacks and takes up coaching clients to represent themselves in court.

Ramamurthy will play an ambitious but good-natured lawyer who was in Rex's shadow until Rex's career switch and whose friendship with Rex becomes complicated when he falls in love with his pal's fiancee (Abigail Spencer).

As for Emmy-winning comedy veteran Curtin, she will play Rex's mother and mentor, a successful law professor who falls in love with Rex's shrink (Jeffrey Tambor).

David Semel is directing the pilot from a script by Andrew Leeds and David Lampson.