Entertainment Weekly reports that the original In The Heights star has landed a regular role on the NBC dramedy series.
Olivo will portray a 'new hotshot lawyer' brought in to help Kathy Bates's sarcastic defence attorney Harry Korn as she begins to take on larger cases.
The Tony Award-winning actress is best known for originating the role of Vanessa from In The Heights, as well as a recent multi-episode stint on CBS drama The Good Wife.
It was recently confirmed that Spider-Man 2 star Alfred Molina will guest-star in the first three episodes of the show's second season.
Harry's Law will return on NBC on September 21.
Watch a preview from the first season of Harry's Law below: