The discussion is to be moderated by Independent Women's Forum president and chief executive officer and MSNBC political analyst Michelle Bernard Sunday, the network said.
The main topic expected to be discussed is poverty in America, focusing on the parenting, education and health issues facing the poor in the United States.
The forum is to be televised live from Howard University in Washington.
MSNBC said it is taking online questions for Cosby and the panel at TheGrio.com and msnbc.com. Cosby has a Ph.D. in education from the University of Massachusetts.