Pullman, 56, will play a man who is reunited with one of his sons, a heart surgeon played by Harrington, 35 years after the son was adopted, The Hollywood Reporter.
Comedic exploits in the new series will be based around Pullman's character, Arthur, who enjoys interacting with his children aggressively via an abundance of praise and coddling.
The Reporter said the pilot will mark Pullman's return to NBC prime time. The actor, whose film credits include "Nobel Son," "Independence Day," and "Lake Placid," previously starred in the 2005 NBC drama "Revelations" and appeared on "Law & Order: Special Victims Unit."
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