Underwood was heard last year as the voice of Jesus in the audio version of the Bible, "The Bible Experience."
Underwood is especially close to the "Exalted" project because he is also a member of the Faithful Central Bible Church in Inglewood, Calif., where Bishop Kenneth C. Ulmer is pastor. Ulmer is featured in the Oct. 16 episode of the show, BET Networks said in a statement.
Best-known for his starring role on TV's "L.A. Law," Underwood has also had recurring parts on "Sex and the City," "The New Adventures of Old Christine" and "Dirty Sexy Money."
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