The sit-com stars Estevez's real-life brother, Charlie Sheen.
Estevez will play character Charlie's former drinking and partying buddy who drops by for a visit.
"My dad (Martin Sheen) did the show a couple of years ago, so it was only a matter of time until someone of my brother's talent could also come and play in our sandbox," Charlie Sheen said in a statement.
Estevez's film credits include "The Breakfast Club," "St. Elmo's Fire," "Young Guns" and "Young Guns II." Estevez also wrote, directed and starred in the critically acclaimed film "Bobby," a film about the assassination of Sen. Robert F. Kennedy. His additional directing credits include "Cold Case," "CSI: New York" and "Close to Home."