The drama follows a young police officer who is estranged from her father, a cop in New York.
When he turns up on her doorstep, the pair become partners and try to rebuild their relationship.
Eliza Dushku originally signed up for the role of the daughter but left the project earlier this week. Deadline reports that Williams, who previously starred in As The World Turns, How I Met Your Mother and Saving Grace, has now signed up to replace her.
Meanwhile, Deadwood and Undercovers actor Gerald McRaney has signed up to play the father.
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