The follow-up to last year's Chatterbox Live is titled Thoroughly Modern Millican and is available from November 12.
"Sarah once again invites us into her wonderful world of comedy, showcasing her unique blend of down-to-earth delivery and spot-on observations that will make you laugh until you wet the sofa," the press release reads.
The DVD is a record of Millican's second sell-out headline tour, which took in a collective audience of over 200,000 people.
Extras include an interview with Millican, BBC Radio 4 play Stairlift Us Up Where We Belong, details of Millican's rider, and the first episode of BBC Radio 4 show Sarah Millican's Support Group.
The second series of The Sarah Millican Television Programme will be filmed in front of a studio audience at MediaCityUK in Salford this year and will be screened over Christmas and in January 2013.
Watch the Sarah Millican Thoroughly Modern Millican DVD trailer below: