Katherine Heigl never quite found her TV footing after leaving “Grey’s Anatomy” but she tries again in “Doubt” (CBS, 10 p.m.), a new legal yarn made needlessly complicated by her own dalliance with her client, Steven Pasquale (who has had his own trouble keeping a network series), several side plots, and a way too big cast that includes Elliott Gould, Judith Light, Laverne Cox and Dule Hill. It’s from some writers on “Grey’s” and “Madame Secretary” and one of the first times you may wish the thing were simpler and episodic. “Doubt” is what I feel about its future.
The three part “Madiba” (BET, 10 p.m.) concludes with Laurence Fishbone’s Nelson Mandela out of jail and looking into the future of South Africa.
I’m not saying everything will make sense on the second episode of “Legion” (FX, 10 p.m.), but David looks back on his past to fill in some pieces.
There will be more than enough examples to fill an episode on political deceit on “Full Frontal with Samantha Bee” (TBS, 10:30 p.m.).
Origami isn’t just fun, it’s a useful way into scientific discoveries, according to a new episode of “Nova” (PBS, 9 p.m., check local listings.
The crazy plot to spy on animals using dummies with cameras winds up on “Nature” (PBS, 8 p.m., check local listings).
Peyton Manning guest stars as a coach on “Modern Family” (ABC, 9 p.m.).
Dre goes to a funeral on “Blackish” (ABC, 9:30 p.m.).
Harvey and Mike partner on a class action on “Suits” (USA, 10 p.m.).
A hockey team hazing incident is investigated on “Law & Order: Special Victims Unit” (NBC, 9 p.m.).
Riggs and Murtaugh join forces with a DEA agent on “Lethal Weapon” (Fox, 8 p.m.).
A secret society is infiltrated to solve a tattoo on “Blindspot” (NBC, 8 p.m.).
Tensions escalate on “The 100” (The CW, 9 p.m.).
A team on “Hunted” (CBS, 8 p.m.) risks the game by visiting a loved one.
On “The Goldbergs” (ABC, 8 p.m.), Barry and Erica get jobs working at Spencer’s Gifts.
Models experience a day in the life of Rita Ora, host of “America’s Next Top Model” (VH1, 10 p.m.).
A star drops in on a neighborhood block party in “Star” (Fox, 9 p.m.).
The community gathers to clean Jolene’s trailer on “Too Close to Home” (TLC, 10 p.m.).
On “The Expanse” (Syfy, 10 p.m.), Miller devises a plan to get red of the protomolecule on Eros.
A home explosion is investigated on “Chicago P.D.” (NBC, 10 p.m.).
On “Arrow” (The CW, 8 p.m.), an explanation of how Rene became Wild Dog.
The team on “Six” (History, 10 p.m.) deals with a loss.
A BAU member gets in trouble in Mexico on “Criminal Minds” (CBS, 9 p.m.).
Ray gets a week at the country club on “Speechless” (ABC, 8:30 p.m.).
Adam Carolla, Ana Gasteyer, Cheryl Hines, Jenna Fischer, Kenan Thompson and Justin Long play “The Match Game” (ABC, 10 p.m.) with Alec Baldwin.
It’s almost all L movies on Turner Classic Movies’ alphabetical 31 Days of Oscar with “Little Women” (6:45 a.m.), “Logan’s Run” (9 a.m.), “Lolita” (11:15 a.m.), “The Long Voyage Home” (2:15 p.m.), “Look for the Silver Lining” (4:15 p.m.), “The Lost Patrol” (6:30 p.m.), “The Lost Weekend” (8 p.m.), “Love Affair” (9:45 p.m.), “Love Me or Leave Me” (11:30 p.m.), “Lust for Life” (1:45 a.m.) and “Madam Bovary” (4 a.m.).
NBA action includes Indiana at Cleveland (ESPN, 7 p.m.) and New York at Oklahoma City (ESPN, 9:30 p.m.).
Hockey has St. Louis at Detroit (NBC, 8 p.m.) and Florida at San Jose (NBC Sports, 10:30 p.m.).
Men’s college hoops includes LIU-Brooklyn at St. Francis-Brooklyn (CBS Sports, 6 p.m.), Xavier at Providence (Fox Sports 1, 6:30 p.m.), Iowa State at Kansas State (ESPN2, 7 p.m.), Cincinnati at South Florida (ESPNU, 7 p.m.), Temple at East Carolina (ESPNews, 7 p.m.), Creighton at Seton Hall (CBS Sports, 8 p.m.), St. John’s at Butler (Fox Sports 1, 8:30 p.m.), Duke at Virginia (ESPN2, 9 p.m.), Oklahoma State at TCU (ESPNU, 9 p.m.) and San Diego State at Utah State (CBS Sports, 10 p.m.).
Kelly Ripa: Ricky Martin, Christine Baranski, John Leguizamo. The View: Bob Odenkirk. The Talk: Katherine Heigl, Matthew Rodrigues. Harry Connick: Jeff Perry, Daymond John, Sullivan Stapleton. Ellen DeGeneres: Adam Levine. Wendy Williams: Andrew Freund. The Real: Sybrina Fulton and Tracy Martin, Peter Parros, Gary Owen.
Stephen Colbert: Bob Odenkirk, Tatiana Maslany, George Saunders. Jimmy Kimmel: David Muir, Pedro Pascal, Mariah Carey. Jimmy Fallon: Gwen Stefani, Dane DeHaan, Damien Gazelle, Maggie Rogers. Seth Meyers: Damian Lewis, Adam Scott, Charlotte OC, Brann Dailor. James Corden: Laura Dern, Lena Dunham, Zach Galifianakis. Carson Daly: Bill Paxton, Bear Hands, Preacher Lawson. Trevor Noah: Charlie Day. Conan O’Brien: Ice Cube, Charlie Day, Tracy Morgan, Jillian Bell, JoAnn Garcia Swisher, Katherine Ryan.