In other casting news, Kristin Lehman ("Drive") has signed on to NBC's pilot "Backyards & Bullets" and Julie White has been made a regular on ABC's new comedy "Cavemen."
On "Brothers & Sisters," Glover will play a love interest for Nora Walker (Sally Field), according to The Hollywood Reporter. He'll have a recurring role on the show, although the number of episodes he'll appear in hasn't been finalized at the moment.
It will be Glover's first TV gig since an arc on "ER" in 2005 in which he played Mekhi Phifer's father. He has four Emmy nominations to his credit, including nods for "Lonesome Dove," the 2000 TNT movie "Freedom Song" and 1987's "Mandela," in which he played the title character.
Glover is probably best known for his work in the "Lethal Weapon" franchise. His recent film roles include "Shooter," "Dreamgirls," "Saw" and "The Shaggy Dog."
Also at ABC, Tony winner White ("The Little Dog Laughed," "Transformers") has been upped to a cast regular on "Cavemen," where she plays the boozy mother of a woman (Kaitlin Doubleday) who's dating one of the cavemen. Her TV credits also include "Grace Under Fire" and "Six Feet Under."
NBC, meanwhile, has cast Lehman in "Backyards & Bullets" (formerly titled "The Watch"). It's about a suburban neighborhood watch group that takes its job a little too seriously. The former "Century City" star guested on "Prison Break" last season and co-starred in the feature film "The Sentinel."